Motion Controller for Stepper Motors TMC4361 …...Motion Controller for Stepper Motors Integrated...

Motion Controller for Stepper Motors Integrated Circuits

SHORT SPEC

TMC4361 DATASHEET

TMC4361 Document Revision 3.10 • 2016-JUL-20 SHORT SPEC The S-ramp and sixPoint™ ramp motion controller for stepper motors is optimized for high

velocities, allowing on-the-fly changes. TMC4361 offers SPI and Step/Dir interfaces, as well as

an encoder interface for closed-loop operation.

NOTE:

For new design applications, it is recommended to use the upgraded successor product TMC4361A.

Features

SPI Interfaces for µC with easy-to-use protocol.

SPI Interfaces for SPI motor stepper drivers.

Encoder interface for incremental or serial encoders.

Closed-loop operation for Step and SPI drivers.

Integrated ChopSync™ and dcStep™ support.

Internal ramp generator (S-shaped ramps or

sixPoint™ ramps supporting on-the-fly changes).

Controlled PWM output

Reference switch handling.

Hardware and virtual stop switches.

Extensive Support of TMC stepper motor drivers.

Applications

Textile, sewing machines

CCTV, security

Printers, scanners

ATM, cash recycler

Office automation

POS

Factory automation

Lab automation

Pumps and valves

Heliostat controllers

CNC machines

Robotics

Block Diagram: TMC4361 Interfaces & Features

Figure 2: Block Diagram

© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg,

Germany — Terms of delivery and rights to technical change

reserved. Download newest version at: www.trinamic.com.

Read entire documentation; especially the

Supplemental Directives in chapter 20 (Page 218).

TMC4361

SPI to

Master

Safe Ramp Down

ISO 13485

Status Flags

Interrupt

Controller

Ref. Switch

Processing

Driver

Interface:

SPI /

Step/Dir

Ref. Switches

S-Ramp

Generatorincl. trapezoid,

rectangle, 4bows

SPI

Step/Dir

SPI to µC

INTR / TR to µC

Timer Unit

Power-on

Reset

Step

Sequencer

Current

Regulation

Encoder

Interface

Closed Loop

ABN

SSI

SPI

NFreeze

CLK

NRST

dcStep

START

Figure 1: Sample Image

TMC4361 Closed-Loop Drive

*Marking details are explained on page 217.

http://www.trinamic.com/

TMC4361 Datasheet | Document Revision 3.10 • 2016-JUL-20 2/224

© 2015 TRINAMIC Motion Control GmbH & Co. KG, Hamburg, Germany — Terms of delivery and

rights to technical change reserved. Download newest version at: www.trinamic.com .

Read entire documentation; especially the Supplemental Directives on page 218.

SHORT SPEC

Functional Scope of TMC4361

TMC4361 is a miniaturized high-performance motion controller for stepper motor drivers,

particularly designed for fast and jerk-limited motion profile applications with a wide range of

ramp profiles. The S-shaped or sixPoint™ velocity profile, closed-loop and open-loop features

offer many configuration options to suit the user’s specifications, as presented below:

S-shaped ramp profiles are jerk-free. Seven ramp segments form the

S-shaped ramp that can be optimally adapted to suit the user’s requirements.

High torque with high velocities can be reached by calibrating the bows of the

ramp, as explained in this user manual.

Figure 3: S-shaped Velocity Profile

i More information on ramp configurations and other velocity profiles, e.g.

sixPoint™ ramps, are provided in chapter 6 (8).

A typical hardware setup for closed-loop operation with a TMC262 stepper

motor gate driver is shown in the diagram below. In case internal MOSFETs are

desired, combine the TMC4361 with the TMC2620, the TMC261 or the TMC2660.

Figure 4: Hardware Set-up for Closed-loop Operation with TMC262

A typical hardware setup for dcStep operation with a TMC2130 stepper motor

driver is shown in the diagram below. This feature is also available for TMC26x

stepper motor drivers.

Figure 5: Hardware Set-up for Open-loop Operation with TMC2130

Order Codes

Order code Description Size

TMC4361-LA Motion controller with closed-loop and dcStep features, QFN40 6 x 6 mm2

Table 1: TMC4361 Order Codes

v(t)

t

VMAX

µCTMC262

Motor Gate

Driver

MOSFE

TDriver

Stage

High level

interface M

TMC4361Motion

Controller

EncoderABN / SSI / SPI

SPI SPI

µC TMC2130Motor Driver

High level interface M

TMC4361Motion

Controller

SPI

SPI

dcStep™ signals

S/D

S-Shaped

Velocity Profile

Closed-loop

Operation

Feature

Open-loop

Operation with

dcStep™ Feature





Read entire documentation; especially the “Supplemental Directives” on page 218.

MAIN MANUAL

TABLE OF CONTENTS

TMC4361 DATASHEET ..................................................................................................................... 1

SHORT SPEC ..................................................................................................................................... 1

Features .......................................................................................................................................... 1

Applications ................................................................................................................................... 1

Block Diagram: TMC4361 Interfaces & Features ....................................................................... 1

Functional Scope of TMC4361 ...................................................................................................... 2

Order Codes ................................................................................................................................... 2

TABLE OF CONTENTS ...................................................................................................................... 3

MAIN MANUAL .............................................................................................................................. 10

1. Pinning and Design-In Process Information ..................................................................... 10

Pin Assignment: Top View ............................................................................................................... 10

Pin Description ................................................................................................................................. 11

System Overview .............................................................................................................................. 13

2. Application Circuits .............................................................................................................. 14

TMC4361 Standard Connection: VCC=3.3V .................................................................................. 14

TMC4361 with TMC26x Stepper Connection ................................................................................ 14

TMC4361 with TMC248 Stepper Driver ......................................................................................... 15

TMC4361 with TMC2130 Stepper Driver ....................................................................................... 15

3. SPI Interfacing ....................................................................................................................... 16

SPI Datagram Structure ................................................................................................................... 16

SPI Timing Description .................................................................................................................... 19

4. Input Filtering ....................................................................................................................... 20

Input Filtering Examples.................................................................................................................. 22

Configuration of Step/Dir Input Filter ............................................................................................ 23

5. Status Flags and Events ....................................................................................................... 24

Status Event Description ................................................................................................................. 25

SPI Status Bit Transfer ..................................................................................................................... 26

Generation of Interrupts ................................................................................................................. 26

Connection of Multiple INTR Pins .................................................................................................. 27

6. Ramp Configurations for different Motion Profiles ......................................................... 28

Step/Dir Output Configuration ....................................................................................................... 29

Step/Dir Output Configuration Steps ............................................................................................ 29

STPOUT: Changing Polarity ............................................................................................................ 29

Altering the Internal Motion Direction .......................................................................................... 30

Configuration Details for Operation Modes and Motion Profiles ............................................. 31

Starting Point: Choose Operation Mode ....................................................................................... 32






MAIN MANUAL

Motion Profile Configuration .......................................................................................................... 33

No Ramp Motion Profile .................................................................................................................. 34

Trapezoidal 4-Point Ramp without Break Point ........................................................................... 35

Trapezoidal Ramp with Break Point ............................................................................................. 35

Position Mode combined with Trapezoidal Ramps ..................................................................... 36

Configuration of S-Shaped Ramps ................................................................................................. 37

Configuration of S-shaped Ramp with ASTART and DFINAL ........................................................ 38

S-shaped Mode and Positioning: Fast Motion ............................................................................. 39

Start Velocity VSTART and Stop Velocity VSTOP ............................................................................. 40

S-shaped Ramps with Start and Stop Velocity ............................................................................. 44

Combined use of VSTART and ASTART for S-shaped Ramps ......................................................... 45

sixPoint Ramps ................................................................................................................................. 46

Internal Ramp Generator Units ...................................................................................................... 47

Clock Frequency ............................................................................................................................... 47

Velocity Value Units ......................................................................................................................... 47

Acceleration Value Units ................................................................................................................. 47

Bow Value Units ............................................................................................................................... 48

Overview of Minimum and Maximum Values: ............................................................................. 48

7. External Step Control and Electronic Gearing .................................................................. 49

Description of Electronic Gearing .................................................................................................. 50

Indirect External Control ................................................................................................................. 50

Switching from External to Internal Control ................................................................................. 51

8. Reference Switches .............................................................................................................. 53

Hardware Switch Support ............................................................................................................... 54

Stop Slope Configuration for Hard or Linear Stop Slopes .......................................................... 54

How Active Stops are indicated and reset to Free Motion ......................................................... 55

How to latch Internal Position on Switch Events ......................................................................... 55

Virtual Stop Switches ....................................................................................................................... 56

Enabling Virtual Stop Switches ....................................................................................................... 56

Virtual Stop Slope Configuration .................................................................................................... 56

How Active Virtual Stops are indicated and reset to Free Motion ............................................. 57

Home Reference Configuration ..................................................................................................... 58

Home Event Selection...................................................................................................................... 59

HOME_REF Monitoring .................................................................................................................... 59

Homing with STOPL or STOPR ........................................................................................................ 60

Target Reached / Position Comparison ........................................................................................ 61

Connecting several Target-reached Pins ...................................................................................... 61

Position Comparison of Internal Values ....................................................................................... 62

Repetitive and Circular Motion ....................................................................................................... 64

Repetitive Motion to XTARGET ....................................................................................................... 64

Activating Circular Motion ............................................................................................................... 64

Uneven or Noninteger Microsteps per Revolution...................................................................... 65

Release of the Revolution Counter ................................................................................................ 66






MAIN MANUAL

Blocking Zones ................................................................................................................................. 66

Activating Blocking Zones during Circular Motion ....................................................................... 66

Circular Motion with and without Blocking Zone ........................................................................ 67

9. Ramp Timing and Synchronization .................................................................................... 68

Basic Synchronization Settings ....................................................................................................... 69

Start Signal Trigger Selection .......................................................................................................... 69

User-specified Impact Configuration of Timing Procedure ........................................................ 69

Delay Definition between Trigger and internally generated Start Signal ................................. 70

Active START Pin Output Configuration ........................................................................................ 70

Ramp Timing Examples ................................................................................................................... 71

Shadow Register Settings ................................................................................................................ 74

Shadow Register Configuration Options ...................................................................................... 75

Delayed Shadow Transfer ............................................................................................................... 79

Pipelining Internal Parameters ...................................................................................................... 81

Configuration and Activation of Target Pipeline .......................................................................... 81

Using the Pipeline for different internal Registers ...................................................................... 82

Pipeline Mapping Overview ............................................................................................................ 83

Cyclic Pipelining ................................................................................................................................ 84

Pipeline Examples ............................................................................................................................ 84

Masterless Synchronization of Several Motion Controllers via START Pin ............................... 87

10. Serial Data Output ............................................................................................................... 88

Getting Started with TMC Motor Drivers ...................................................................................... 89

Sine Wave Lookup Tables ............................................................................................................... 90

Actual Current Values Output ........................................................................................................ 91

How to Program the Internal MSLUT ............................................................................................ 92

Setup of MSLUT Segments .............................................................................................................. 93

Current Waves Start Values ............................................................................................................ 94

Default MSLUT .................................................................................................................................. 94

Explanatory Notes for Base Wave Inclinations ............................................................................ 95

SPI Output Interface Configuration Parameters .......................................................................... 97

Enabling SPI Output Communication ............................................................................................ 97

Setup of SPI Output Timing Configuration ................................................................................... 98

Current Diagrams ............................................................................................................................. 99

Change of Microstep Resolution .................................................................................................... 99

Cover Datagrams Communication between µC and Driver ....................................................... 99

Sending Cover Datagrams ........................................................................................................... 100

Configuring Automatic Generation of Cover Datagrams ........................................................ 101

Overview: TMC Motor Driver Connections ................................................................................ 102

TMC Stepper Motor Driver Settings ............................................................................................ 102

TMC Motor Driver Response Datagram and Status Bits.......................................................... 103

Events and Interrupts based on Motor Driver Status Bits....................................................... 103

Stall Detection and Stop-on-Stall ................................................................................................ 104

TMC23x, TMC24x Stepper Motor Driver .................................................................................... 105






MAIN MANUAL

TMC23x Setup ................................................................................................................................ 105

TMC24x Setup ................................................................................................................................ 105

TMC23x/24x Status Bits ................................................................................................................ 106

Automatic Fullstep Switchover for TMC23x/24x ....................................................................... 106

Mixed Decay Configuration for TMC23x/24x ............................................................................ 107

ChopSync Configuration for TMC23x/24x Stepper Drivers ..................................................... 107

Using TMC24x stallGuard Characteristics .................................................................................. 108

TMC26x Stepper Motor Driver .................................................................................................... 109

TMC26x Setup (SPI mode) ........................................................................................................... 109

TMC26x Setup (S/D mode) ........................................................................................................... 109

Sending Cover Datagrams to the TMC26x Driver ..................................................................... 110

TMC26x SPI Mode: Automatic Fullstep Switchover ................................................................. 110

TMC26x S/D Mode: Automatic Fullstep Switchover ................................................................. 111

TMC 26x S/D Mode: Change of Current Scaling Parameter .................................................... 111

TMC26x Status Bits ....................................................................................................................... 112

TMC389 Stepper Motor Driver .................................................................................................... 112

TMC2130 Stepper Motor Driver .................................................................................................. 113

Set-up TMC2130 Support (SPI Mode) ......................................................................................... 113

Set-up TMC2130 Support (S/D Mode) ........................................................................................ 113

Sending Cover Datagrams to the TMC2130 Driver .................................................................. 114

TMC2130 SPI Mode: Automatic Fullstep Switchover ................................................................ 114

TMC2130 S/D Mode: Automatic Fullstep Switchover ............................................................... 114

TMC 2130 S/D Mode: Changing current Scaling Parameter .................................................... 115

Connecting Non-TMC Stepper Motor Driver or SPI-DAC at SPI output interface ................. 116

Connecting a SPI-DAC ................................................................................................................... 117

DAC Data Transfer ........................................................................................................................ 117

Changing SPI Output Protocol for SPI-DAC ............................................................................... 117

DAC Address Values ...................................................................................................................... 118

DAC Data Values ............................................................................................................................ 118

11. Current Scaling ................................................................................................................... 120

Hold Current Scaling ..................................................................................................................... 121

Freewheeling ................................................................................................................................. 121

Current Scaling during Motion .................................................................................................... 122

Drive Scaling .................................................................................................................................. 122

Alternative Drive Scaling .............................................................................................................. 122

Boost Current ................................................................................................................................ 123

Scale Mode Transition Process Control ..................................................................................... 124

Current Scaling Examples ............................................................................................................ 126

12. NFREEZE and Emergency Stop ........................................................................................... 128

Configuration of FREEZE Function .............................................................................................. 128

Configuration of DFREEZE for automatic Ramp Stop ................................................................ 129

13. Controlled PWM Output .................................................................................................... 130

PWM Output Generation and Scaling Possibilities ................................................................... 131






MAIN MANUAL

PWM Scale Example ...................................................................................................................... 132

PWM Output Generation for TMC23x/24x ................................................................................ 133

Switching between SPI and Voltage PWM Modes..................................................................... 134

14. dcStep Support for TMC26x or TMC2130 .......................................................................... 135

Enabling dcStep for TMC26x Stepper Motor Drivers ............................................................... 137

Setup: Minimum dcStep Velocity ................................................................................................ 138

Enabling dcStep for TMC2130 Stepper Motor Drivers ............................................................. 140

15. Decoder Unit: Connecting ABN, SSI, or SPI Encoders correctly .................................... 141

Selecting the correct Encoder ...................................................................................................... 142

Disabling digital differential Encoder Signals ............................................................................ 143

Inverting of Encoder Direction .................................................................................................... 143

Encoder Misalignment Compensation ....................................................................................... 144

Incremental ABN Encoder Settings ............................................................................................. 145

Automatic Constant Configuration of incremental ABN Encoder .......................................... 145

Manual Constant Configuration of Incremental ABN Encoder ............................................... 145

Incremental Encoders: Index Signal: N resp. Z ......................................................................... 146

Setup of Active Polarity for Index Channel ............................................................................... 146

Configuration of N Event .............................................................................................................. 146

External Position Counter ENC_POS Clearing ............................................................................ 147

Latching External Position ........................................................................................................... 148

Latching Internal Position ............................................................................................................ 149

Absolute Encoder Settings ........................................................................................................... 150

Singleturn or Multiturn Data ....................................................................................................... 150

Automatic Constant Configuration of Absolute Encoder ........................................................ 151

Manual Constant Configuration of Incremental ABN Encoder ............................................... 151

Absolute Encoder Data Setup ..................................................................................................... 152

Emitting Encoder Data Variation ................................................................................................. 153

SSI Clock Generation..................................................................................................................... 154

Enabling Multicycle SSI request.................................................................................................. 155

Gray-encoded SSI Data Streams ................................................................................................ 155

SPI Encoder Data Evaluation ....................................................................................................... 156

SPI Encoder Mode Selection ........................................................................................................ 157

SPI Encoder Configuration via TMC4361 ................................................................................... 158

16. Possible Regulation Options with Encoder Feedback .................................................... 159

Feedback Monitoring .................................................................................................................... 159

Target-Reached during Regulation ............................................................................................. 159

PID-based Control of XACTUAL ..................................................................................................... 160

PID Readout Parameters .............................................................................................................. 160

PID Control Parameters and Clipping Values ............................................................................ 161

Enabling PID Regulation ............................................................................................................... 161

Closed-Loop Operation ................................................................................................................ 162

Basic Closed-Loop Parameters .................................................................................................. 162

Enabling and calibrating Closed-Loop Operation ..................................................................... 163






MAIN MANUAL

Limiting Closed-Loop Catch-Up Velocity .................................................................................... 164

Enabling the Limitation of the Catch-Up Velocity ..................................................................... 164

Enabling Closed-Loop Velocity Mode ......................................................................................... 165

Closed-loop Scaling ....................................................................................................................... 166

Closed-Loop Scaling Transition Process Control ...................................................................... 167

Back-EMF Compensation during Closed-Loop Operation ....................................................... 168

Encoder Velocity Readout Parameters ....................................................................................... 169

Encoder Velocity Filter Configuration ......................................................................................... 169

Encoder Velocity equals 0 Event ................................................................................................. 169

TECHNICAL SPECIFICATIONS ..................................................................................................... 170

17. Complete Register and Switches List ............................................................................... 170

General Configuration Register GENERAL_CONF 0x00 ............................................................ 170

Reference Switch Configuration Register REFERENCE_CONF 0x01 ........................................ 173

Start Switch Configuration Register START_CONF 0x02 .......................................................... 176

Input Filter Configuration Register INPUT_FILT_CONF 0x03 ................................................... 178

SPI Output Configuration Register SPI_OUT_CONF 0x04 ........................................................ 179

Current Scaling Configuration Register CURRENT_CONF 0x05 .............................................. 182

Current Scale Values Register SCALE_VALUES 0x06 ................................................................. 183

Encoder Signal Configuration (0x07) .......................................................................................... 184

Serial Encoder Data Input Configuration (0x08) ....................................................................... 187

Serial Encoder Data Output Configuration (0x09) .................................................................... 188

Motor Driver Settings Register STEP_CONF 0x0A ..................................................................... 189

Event Selection Registers 0x0B..0X0D ........................................................................................ 190

Status Event Register (0x0E) ........................................................................................................ 191

Status Flag Register (0x0F) ........................................................................................................... 192

Configuration Registers: Closed-Loop, Switches, etc. .............................................................. 193

Ramp Generator Registers .......................................................................................................... 195

External Clock Frequency Register ............................................................................................. 199

Target and Compare Registers .................................................................................................... 199

Pipeline Registers .......................................................................................................................... 200

Shadow Register ............................................................................................................................ 200

Freeze Register .............................................................................................................................. 201

Encoder Registers ......................................................................................................................... 202

PID & Closed-Loop Registers ....................................................................................................... 204

Miscellaneous Registers ............................................................................................................... 205

Transfer Registers ......................................................................................................................... 207

SinLUT Registers ............................................................................................................................ 208

TMC Version Register.................................................................................................................... 209

18. Absolute Maximum Ratings .............................................................................................. 210

19. Electrical Characteristics ................................................................................................... 211

Power Dissipation ......................................................................................................................... 211

General IO Timing Parameters .................................................................................................... 212






MAIN MANUAL

Layout Examples ........................................................................................................................... 213

Internal Cirucit Diagram for Layout Example ............................................................................ 213

Components Assembly for Application with Encoder .............................................................. 214

Top Layer: Assembly Side ............................................................................................................ 214

Inner Layer (GND) ......................................................................................................................... 215

Inner Layer (Supply VS) ................................................................................................................. 215

Package Dimensions ..................................................................................................................... 216

Package Material Information ..................................................................................................... 217

Marking Details provided on Single Chip ................................................................................... 217

APPENDICES ................................................................................................................................ 218

20. Supplemental Directives ................................................................................................... 218

ESD-DEVICE INSTRUCTIONS ......................................................................................................................... 218

21. Tables Index ........................................................................................................................ 220

22. Figures Index ....................................................................................................................... 222

23. Revision History .................................................................................................................. 224






MAIN MANUAL

MAIN MANUAL

1. Pinning and Design-In Process Information

In this chapter you are provided with a list of all pin names and a functional description of each.

Pin Assignment: Top View

Figure 6: Package Outline: Pin Assignments Top View

TMC4361

QFN 40

6mm x 6mm

0.5 pitch

1

2

3

4

5

6

7

8

28

29

22

23

24

25

26

27

1811 12 13 14 15 16 17

36 35 34 33 3239 38 37

9

19

30

40

20

21

31

10

NSCSIN

SCKIN

VCC

GND

SDIIN

SDOIN

A_

SC

LK

ANEG_NSCLK

B_SDI

MP2

ST

OP

L

HO

ME

_R

EF

GN

D

VD

D1

V8

ST

OP

R

ST

PIN

DIR

IN

ST

AR

T

NF

RE

EZ

E

BN

EG

_N

SD

I

NR

ST

CLK

_E

XT

GN

D

VD

D1V

8

VC

C

TE

ST

_M

OD

E

INT

R

TA

RG

ET

_R

EA

CH

ED

ST

DB

Y_C

LK

MP1

SCKDRV_NSDO

SDIDRV_NSCLK

VCC

GND

SDODRV_SCLK

STPOUT_PWMA

DIROUT_PWMB

NNEG

N

NSCSDRV_SDO






MAIN MANUAL

Pin Description

Pin Names and Descriptions

Pin Number Type Function

Supply Pins

GND 6, 15,

25, 36 GND Digital ground pin for IOs and digital circuitry.

VCC 5, 26, 37 VCC Digital power supply for IOs and digital circuitry (3.3V… 5V).

VDD1V8 16, 35 VDD Connection of internal generated core voltage of 1.8V.

CLK_EXT 38 I Clock input to provide a clock with the frequency fCLK for all

internal operations.

NRST 39 I (PU) Low active reset. If not connected, Power-on-Reset and internal

pull-up resistor is active.

TEST_MODE 34 I

Test mode input.

VCC = 3.3V: Tie to low for normal operation.

VCC = 5.0V: Tie to VDD1V8 for normal operation.

NFREEZE 19 I (PU) Low active safety pin to immediately freeze output operations.

If not connected, internal pull-up resistor is active.

Interface Pins for µC

NSCSIN 2 I Low active chip selects input of SPI interface to µC.

SCKIN 3 I Serial clock for SPI interface to µC.

SDIIN 4 I Serial data input of SPI interface to µC.

SDOIN 7 O Serial data output of SPI interface to µC (Z if NSCSIN=1).

INTR 33 O Interrupt output, programmable PD/PU for wired-and/or.

TARGET_REACHED 31 O Target reached output, programmable PD/PU for wired-and/or.

STDBY_CLK 32 O StandBy signal or internal CLK output or ChopSync output.

Reference Pins

STOPL 12 I (PD) Left stop switch. External signal to stop a ramp.

If not connected, internal pull-down resistor is active.

HOME_REF 13 I (PD)

Home reference signal input. External signal for reference

search.


STOPR 14 I (PD) Right stop switch. External signal to stop a ramp.


STPIN 17 I (PD) Step input for external step control.


DIRIN 18 I (PD) Direction input for external step control.


START 20 IO Start signal input/output.

Continued on next page.






MAIN MANUAL

Pin Names and Descriptions

Pin Number Type Function

S/D Output Pins

STPOUT

PWMA

DACA

24 O

Step output.

First PWM signal (Sine).

First DAC output signal (Sine).

DIROUT

PWMB

DACB

23 O

Direction output.

Second PWM signal (Cosine).

Second DAC output signal (Cosine).

Interface Pins for Stepper Motor Drivers

NSCSDRV

PWMB

SDO

30 O

Low active chip selects output of SPI interface to motor driver.

Second PWM signal (Cosine) to connect with PHB (TMC23x/24x).

Serial data output of serial encoder output interface.

SCKDRV

MDBN

NSDO

29 O

Serial clock output of SPI interface to motor driver.

MDBN output signal for MDBN pin of TMC23x/24x.

Negated serial data output of serial encoder output interface.

SDODRV

PWMA

SCLK

27 IO

Serial data output of SPI interface to motor driver.

First PWM signal (Sine) to connect with PHA (TMC23x/24x).

Clock input of serial encoder output interface.

SDIDRV

ERR

NSCLK 28 I (PD)

Serial data input of SPI interface to motor driver.

Error input signal to ERR pin of TMC23x/24x.

Negated clock input of serial encoder output interface.


MP1 8 I (PD) DC_IN as external dcStep input control signal.


MP2 9 IO DCSTEP_ENABLE as dcStep output control signal.

SPE_OUT as output signal, connect to SPE pin of TMC23x/24x.

Encoder Interface Pins

N 21 I (PD) N signal input of incremental encoder input interface.

If not connected, internal pull-down resistor will be active.

NNEG 22 I (PD) Negated N signal input of incremental encoder input interface.

If not connected, internal pull-down resistor will be active.

B

SDI 10 I (PD)

B signal input of incremental encoder input interface.

Serial data input signal of serial encoder interface (SSI/SPI).


BNEG

NSDI

SDO_ENC

11 IO

Negated B signal input of incremental encoder input interface.

Negated serial data input signal of SSI encoder input interface.

Serial data output of SPI encoder input interface.

A

SCLK 40 IO

A signal input of incremental encoder interface.

Serial clock output signal of serial encoder interface (SSI/SPI).

ANEG

NSCLK

NSCS_ENC

1 IO

Negated A signal input of incremental encoder interface.

Negated serial clock output signal of serial encoder interface.

Low active chip select output of SPI encoder input interface.

Table 2: Pin Names and Descriptions






MAIN MANUAL

System Overview

Figure 7: System Overview

TMC4361

SPI

RES

NSCSIN

SCKIN

SDIIN

SDOIN

Host CPU

SPI Interface

Register Block

STOPL

STOPRv

Decoder Unit

SCLK SCLK A

N

Encoder (differential)

Step/Dir Output

I

DIROUT

STPOUT

NSTDBY_OUT

O INTR

HOME_REF

Scan Test I TEST_MODE

I

SDODRV

SCKDRVSDIDRV

NSCSDRV

SPI Datagram Generator

Clk-Out

ChopSync Clk

START

SDI SDI B

CLK_EXT

O

IO

I

I

O

O

O

SPI Output

I

I

I

Reference

processing

OOI

Start / Stop /

Reference Switches

Serial

Encoder

Unit

Ramp

Status

I

I

IO

NSCS NSCLK ANEG

NNEG

External

PosCounter

MasterCLK

SSI

Internal

Pos

External

Pos

IO

or

Pos

Counter

PWM

Unit

Scale

Unit

SCLK NSCLK SDO NSDO

PWMA

(Sine)

PWMB

(Cosine)

Serial encoder

PWM Output

GND(4x) VDD5(3x)

or

or

or ororor

IO

I

NRSTVDD1V8(2x)

Target

Register(s)

Timer Unit

CLK_INT

Status flags

+

Events

à Interrupt

Control Clk

Parameters

from/for all

Units

O TARGET_REACHED

POR

PulseGen

ClosedLoop Unit

Compare

Internal

(Co)Sine

LUT

Internal

Step

ChopSyn

c Unit

Actual

Co-/Sine

values

Commutation

angle

Closed

Loop

Scaling

PWM or DAC

encrypted co-/sine

voltage values

StdBy

signal

orScaled

current

values

CoverRe

gDrv type

FS

DataOut

SSI

SDO NSDI BNEG

DACA

(Sine)

DACB

(Cosine)

DAC Output or

NFREEZE Iimmediate freeze

of operation

DAC

Unit

IO

ABNSSIorSPI or

I

SSI

SPI

ABN

PID

PID_

E

Ramp-GeneratorS-ramps with 4 bows,

trapezoid, rectangle, ...






MAIN MANUAL

2. Application Circuits

In this chapter application circuit examples are provided that show how external components can

be connected.

Figure 8: TMC4361 Connection: VCC=3.3V

Figure 9: TMC4361 with TMC26x Stepper Driver in SPI Mode or S/D Mode

SCKDRV_NSDO

SDODRV_SCLK

SDIDRV_NSCLK

NSCSDRV_SDO

SDIIN

NSCSIN

SCKIN

SDOIN

TMC4361

SPI Control Interface

to Microcontroller

SPI Output Interface

to Motor Driver

STPOUT_PWMA

DIRPOUT_PWMB

Step/Dir Interface

to Motor Driver

HOME STOPL STOPR

A_SCLK

ANEG_NSCLK

B_SDI

BNEG_NSDI

N

NNEG

Encoder Input Interface

for incremental ABN or

serial SSI/SPI

Reference Switches

CLK_EXT

GND

+3.3 V

STARTStart Signal

Input or Output

INTRI nterrupt Output

Ext. Clock

TARGET_REACHEDTarget Reached Output

NFREEZEEmergency Stop Switch

100 nF

100 nF 100 nF

STDBY_CLK Standby Clock Output

NRSTOptional Inv. Reset Input

VCC TEST_MODE VDD1V8VDD1V8

TMC4361µC SCK

MOSI

MISO

SS

SCKIN

SDOIN

CLK CLK_EXT

NSCSIN

SDIIN

M

NSCSDRV_SDO

SDODRV_SCLK

SCKDRV_NSDO

SDIDRV_NSCLK

STEP

DIR

CSN

SCK

SDISDO

TMC26x

STPOUT_PWMA

DIRPOUT_PWMB

SG_TSTMP1

TMC4361

Standard

Connection:

VCC=3.3V

TMC4361 with

TMC26x Stepper

Connection






MAIN MANUAL

Figure 10: TMC4361 with TMC248 Stepper Driver in SPI Mode

Figure 11: TMC4361 with TMC2130 Stepper Driver in SPI Mode or S/D Mode

TMC4361µC SCK

MOSI

MISO

SS

SCKIN

SDOIN

CLK CLK_EXT

NSCSIN

SDIIN

SDO

CSNSDI SCK

TMC248

M

NSCSDRV_SDO

SDODRV_SCLK

SCKDRV_NSDO

SDIDRV_NSCLK

STDBY_CLK Output for chopSync

OSC

15K

680pF

TMC4361µC SCK

MOSI

MISO

SS

SCKIN

SDOIN

CLK CLK_EXT

NSCSIN

SDIIN

M

NSCSDRV_SDO

SDODRV_SCLK

SCKDRV_NSDO

SDIDRV_NSCLK

STEP

DIR

CSN_CFG3

SCK_CFG2

SDI_CFG1SDO_CFG0

TMC2130

STPOUT_PWMA

DIRPOUT_PWMB

DCOMP1DCEN_CFG4MP2

TMC4361 with

TMC248 Stepper

Driver

TMC4361 with

TMC2130

Stepper Driver






MAIN MANUAL

3. SPI Interfacing

TMC4361 uses 40-bit SPI datagrams for communication with a microcontroller. The bit-serial

interface is synchronous to a bus clock. For every bit sent from the bus master to the bus slave,

another bit is sent simultaneously from the slave to the master. In the following chapter

information is provided about the SPI control interface, SPI datagram structure and SPI

transaction process.

SPI Input Control Interface Pins

Pin Name Type Remarks

NSCSIN Input Chip Select of SPI-µC interface (low active)

SCKIN Input Serial clock of SPI-µC interface

SDIIN Input Serial data input of SPI-µC interface

SDOIN Output Serial data output of SPI-µC interface

Table 3: SPI Input Control Interface Pins

Microcontrollers that are equipped with hardware SPI are typically able to

communicate using integer multiples of 8 bit.

The NSCSIN line of the TMC4361 has to stay active (low) for the complete

duration of the datagram transmission.

Each datagram that is sent to TMC4361 is composed of an address byte

followed by four data bytes. This allows direct 32-bit data word

communication with the register set of TMC4361. Each register is accessed via

32 data bits; even if it uses less than 32 data bits.

i Each register is specified by a one-byte address:

For read access the most significant bit of the address byte is 0.

For write access the most significant bit of the address byte is 1.

NOTE:

Some registers are write only registers. Most registers can be read also; and there are

also some read only registers.

Figure 12: TMC4361 SPI Datagram Structure

SPI Datagram

Structure

TMC4361 SPI Datagram Structure

MSB (transmitted first) 40 bits LSB (transmitted last)

39 ... 0

à 8-bit address

8-bit SPI status à 32-bit data

39 ... 32 31 ... 0

à to TMC4361:

RW + 7-bit address

from TMC4361:

8-bit SPI status

8-bit data 8-bit data 8-bit data 8-bit data

39 / 38 ... 32 31 ... 24 23 ... 16 15 ... 8 7 ... 0 W 38...32 31...28 27...24 23...20 19...16 15...12 11...8 7...4 3...0

39 38 37 36 35 34 33 32 31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0






MAIN MANUAL

Read and write selection is controlled by the MSB of the address byte (bit 39 of the

SPI datagram). This bit is 0 for read access and 1 for write access. Consequently, the

bit named W is a WRITE_notREAD control bit.

The active high write bit is the MSB of the address byte.

Consequently, 0x80 must be added to the address for a write access.

The SPI interface always delivers data back to the master, independent of

the Write bit W.

Difference between Read and Write Access

If … Then …

The previous access was a read access.

The data transferred back is the data read from the

address which was transmitted with the previous

datagram.

The previous access was a write access The data read back mirrors the previously received write

data.

Figure 13: Difference between Read and Write Access

Conclusion:

Consequently, the difference between a read and a write access is that the read

access does not transfer data to the addressed register but it transfers the address

only; and its 32 data bits are dummies.

NOTE:

Please note that the following read delivers back data read from the address

transmitted in the preceding read cycle. The data is latched immediately after the

read request.

A read access request datagram uses dummy write data.

Read data is transferred back to the master with the subsequent read or write

access.

i Reading multiple registers can be done in a pipelined fashion. Data that is

delivered is latched immediately after the initiated data transfer.

For read access to register XACTUAL with the address 0x21, the address byte must

be set to 0x21 in the access preceding the read access.

For write access to register VACTUAL, the address byte must be set to

0x80 + 0x22 = 0xA2. For read access, the data bit can have any value, e.g., 0.

Read and Write Access Examples

Action Data sent to TMC Data received from TMC

read XACTUAL à 0x2100000000 0xSS1) & unused data

read XACTUAL à 0x2100000000 0xSS & XACTUAL

write VACTUAL:=

0x00ABCDEF à 0xA200ABCDEF 0xSS & XACTUAL

write VACTUAL:=

0x00123456 à 0xA200123456 0xSS00ABCDEF

Table 4: Read and Write Access Examples

1) SS is a placeholder for the status bits SPI_STATUS.

Read/Write

Selection

Principles and

Process

AREAS OF

SPECIAL

CONCERN

Use of Dummy

Write Data

!

Read and Write

Access Examples






MAIN MANUAL

All data is right-aligned. Some registers represent unsigned (positive) values; others

represent integer values (signed) as two’s complement numbers.

Some registers consist of switches that are represented as bits or bit vectors.

The SPI transaction process is as follows:

The slave is enabled for SPI transaction by a transition to low level on the chip

select input NSCSIN.

Bit transfer is synchronous to the bus clock SCKIN, with the slave latching the

data from SDIIN on the rising edge of SCKIN and driving data to SDOIN

following the falling edge.

The most significant bit is sent first.

i A minimum of 40 SCKIN clock cycles is required for a bus transaction with

TMC4361.

Take the following aspects into consideration:

Whenever data is read from or written to the TMC4361, the first eight bits

that are delivered back contain the SPI status SPI_STATUS that consists of eight

user-selected event bits. The selection of these bits are explained in chapter

5.2. (Page 26).

If less than 40 clock cycles are transmitted, the transfer is not valid; even

for read access. However, sending only eight clock cycles can be useful to

obtain the SPI status because it sends the status information back first.

If more than 40 clocks cycles are transmitted, the additional bits shifted

into SDIIN are shifted out on SDOIN after a 40-clock delay through an internal

shift register. This can be used for daisy chaining multiple chips.

NSCSIN must be low during the whole bus transaction. When NSCSIN goes

high, the contents of the internal shift register are latched into the internal

control register and recognized as a command from the master to the slave. If

more than 40 bits are sent, only the last 40 bits received - before the rising edge

of NSCSIN - are recognized as the command.

Figure 14: SPI Timing Datagram

NSCSIN

SCKIN

SDIIN

SDOIN

tCC tCCtCL tCH

bit39 bit38 bit0

bit39 bit38 bit0

tDO tZC

tDU tDH

tCH

Data Alignment

SPI Transaction

Process

AREAS OF

SPECIAL

CONCERN

System

Behavior

Specifics

!






MAIN MANUAL

SPI Timing Description

The SPI interface is synchronized to the internal system clock, which limits SPI bus clock SCKIN to

a quarter of the system clock frequency. The signal processing of SPI inputs is supported with

internal Schmitt Trigger, but not with RC elements.

NOTE:

In order to avoid glitches at the inputs of the SPI interface between µC and TMC4361, external RC elements

have to be provided.

Figure 14 shows the timing parameters of an SPI bus transaction, and the table below specifies the

parameter values.

SPI Interface Timing

SPI Interface Timing AC Characteristics: External clock period: tCLK

Parameter Symbol Conditions Min Type Max Unit

SCKIN valid before or after

change of NSCSIN tCC 10 ns

NSCSIN high time tCSH

Min. time is for

synchronous CLK with

SCKIN high one tCH

before SCSIN high only.

tCLK >2·tCLK+10 ns

SCKIN low time tCL Min. time is for

synchronous CLK only. tCLK >tCLK+10 ns

SCKIN high time tCH Min. time is for

synchronous CLK only. tCLK >tCLK+10 ns

SCKIN frequency using

external clock

(Example: fCLK = 16 MHz)

fSCK Assumes synchronous

CLK.

fCLK / 4

(4) MHz

SDIIN setup time before

rising edge of SCKIN tDU 10 ns

SDIIN hold time after rising

edge of SCKIN tDH 10 ns

Data out valid time after

falling SCKIN clock edge tDO

No capacitive load on

SDOIN. tFILT+5 ns

Table 5: SPI Interface Timing

i tCLK = 1 / fCLK






MAIN MANUAL

4. Input Filtering

Input signals can be noisy due to long cables and circuit paths. To prevent jamming, every input

pin provides a Schmitt trigger. Additionally, several signals are passed through a digital filter.

Particular input pins are separated into four filtering groups. Each group can be programmed

individually according to its filter characteristics. In this chapter informed on the digital filtering

feature of TMC4361 is provided; and how to separately set up the digital filter for input pins.

Input Filtering Groups

Pin Names Type Remarks

A_SCLK

B_SDI

N

ANEG_NSCLK

BNEG_NSDI

NNEG

Inputs Encoder interface input pins.

STOPL

HOME_REF

STOPR

Inputs Reference input pins.

START Input START input pin.

SDODRV_SCLK

SDIDRV_NSCLK Inputs

Master clock input interface pins for serial

encoder.

STPIN

DIRIN Inputs Step/Dir interface inputs.

Table 6: Input Filtering Groups (Assigned Pins)

Register Names

Register Names Register Address Remarks

INPUT_FILT_CONF 0x03 RW Filter configuration for all four input groups.

Table 7: Input Filtering (Assigned Register)

Every filtering group can be configured separately with regard to input sample rate

and digital filter length.

The following groups exist:

Encoder interface input pins.

Reference input pins.

Start input pin.

Master clock input pins of encoder output interface.

Step/Dir input pins.

NOTE:

Differentiated handling for Step/Dir input pins is necessary, as explained on the

following pages.

Input Filter

Assignment






MAIN MANUAL

Input sample rate = fCLK 1/2SR where:

SR (extended with a particular name extension) is in [0… 7].

i This means that the next input value is considered after 2SR clock cycles.

i The filter length FILT_L can be set within the range [0… 7].

i The filter length FILT_L specifies the number of sampled bits that must have the

same voltage level to set a new input bit voltage level.

Input Sample

Rate (SR)

Sample Rate

Configuration Sample Rate Configuration

SR Value Sample Rate

0 fCLK

1 fCLK/2

2 fCLK/4

3 fCLK/8

4 fCLK/16

5 fCLK/32

6 fCLK/64

7 fCLK/128

Table 8: Sample Rate Configuration

Digital Filter

Length (FILT_L)

Configuration of Digital Filter Length

FILT_L value Filter Length

0 No filtering.

1 2 equal bits.

2 3 equal bits.

3 4 equal bits.

4 5 equal bits.

5 6 equal bits.

6 7 equal bits.

7 8 equal bits.

Table 9: Configuration of Digital Filter Length

Digital Filter

Length

Configuration

Table






MAIN MANUAL

Input Filtering Examples

The following three examples depict input pin filtering of three different input filtering groups.

i After passing Schmitt trigger, voltage levels are compared to internal signals, which are processed by

the motion controller.

i The sample points are depicted as green dashed lines.

In this example every second clock cycle is sampled. Two sampled input bits

must be equal to receive a valid input voltage.

Figure 15: Reference Input Pins: SR_REF = 1, FILT_L_REF = 1

This example shows the START input pattern at every fourth clock cycle:

Figure 16: START Input Pin: SR_S = 2, FILT_L_S = 0

This example shows every clock cycle bit. Eight sampled input bits must be

equal to receive a valid input voltage.

Figure 17: Encoder Interface Input Pins: SR_ENC_IN = 0, FILT_L_ENC_IN = 7

CLK

HOME

internal

home signal

STOPL

internal left

stop signal

CLK

START

internal Start

input signal

START

internal Start

input signal

CLK

B_SDI

internal B

input signal

N

internal N

input signal

Example 1:

Reference Input

Pins

Example 2:

START Input Pin

Example 3:

Encoder

Interface Input

Pins






MAIN MANUAL

Configuration of Step/Dir Input Filter

Step/Dir input filtering setup differs slightly from the other groups, because the other four groups

already complete the whole INPUT_FILT_CONF register 0x03.

This is why it is possible to assign the Step/Dir input group to one of the existing groups by setting

the appropriate bit in front of the setup parameters.

i If no group is selected, Step/Dir input filtering is automatically assigned to the encoder input interface

filter group.

The following example shows the filter settings for Step/Dir interface input

pins, which are taken from the reference input pin group.

Step/Dir input pin filter settings are derived from the Reference input filter

group:

SR_SDIN = 6, FILT_L_SDIN = 3

NOTE:

Other input filter groups are:

SR_ENC_IN = 5, FILT_L_ENC_IN = 6

SR_REF = 6, FILT_L_REF = 3

SR_S = 2, FILT_L_S = 4

SR_ENC_OUT = 0

FILT_L_ENC_OUT = 0)

Step/Dir Input Filter Parameter

Figure 18: Step/Dir Input Filter Parameter

0 0 0 0 0 0 0 0 0 1 0 0 0 0 1 0 1 0 1 1 0 1 1 0 0 1 1 0 0 1 0 1

Serial clock inputs

3

1Bits of register 0x03:

Input filter group:

Filter parameter:

Example:

3

0

2

9

2

8

2

7

2

6

2

5

2

4

2

3

2

2

2

1

2

0

1

9

1

8

1

7

1

6

1

5

1

4

1

3

1

2

1

1

1

09 8 7 6 5 4 3 2 1 0

START input Reference inputs Encoder inputsFILT_L_EN

C_OUT

SR_ENC_O

UTFILT_L_S SR_S FILT_L_REF

SR_ENC_R

EF

FILT_L_ENC_I

NSR_ENC_IN

= possible selection bits to assign Step/Dir input filter parameter

Step/Dir Pin

Filter

Assignment






MAIN MANUAL

5. Status Flags and Events

TMC4361 provides 32 status flags and 32 status events to obtain short information on the internal

status or motor driver status. These flags and events can be read out from dedicated registers. In

the following chapter, you are informed about the generation of interrupts based on status events.

Status events can also be assigned to the first eight SPI status bits, which are sent within each

SPI datagram.

Pin Names: Status Events


INTR Output Interrupt output to indicate status events.

Table 10: Pins Names: Status Events

Register Names: Status Flags and Events

Register Name Register Address Remarks

GENERAL_CONF 0X00 RW Bits: 15, 29, 30.

STATUS_FLAGS 0X0F R 32 status flags of TMC4361 and the connected

TMC motor driver chip.

EVENTS 0X0E R+C 32 events triggered by altered TMC4361 status

bits.

SPI_STATUS_SELECTION 0X0B RW Selection of 8 out of 32 events for SPI status bits.

EVENT_CLEAR_CONF 0X0C RW Exceptions for cleared event bits.

INTR_CONF 0X0D RW Selection of 32 events for INTR output.

Table 11:Register Names: Status Flags and Events






MAIN MANUAL

Status Event Description

Status events are based on status bits. If the status bits change, related events are triggered from

inactive to active level. Resetting events back to inactive must be carried out manually.

Status bits and status events are associated in different ways:

Status flags reflect the as-is-condition, whereas status events indicate that the

dedicated information has changed since the last read request of the EVENTS

register. Several status events are associated with one status bit.

Some status events show the status transition of one or more status bits out of

a status bit group. The motor driver flags, e.g., trigger only one motor driver

event MOTOR_EV in case one of the selected motor driver status flags becomes

active.

In case a flag consists of more than one bit, the number of associated events

that can be triggered corresponds to the valid combinations. The VEL_STATE flag,

e.g., has two bit but three associated velocity state events (b’00/b’01/b’10). Such

an event is triggered if the associated combination switches from inactive to

active.

NOTE:

Some events have no equivalence in the STATUS_FLAGS register 0x0F

(e.g., COVER_DONE which indicates new data from the motor driver chip).

The EVENTS register 0x0E is automatically cleared after reading the register;

subsequent to an SPI datagram request. Events are important for interrupt

generation and SPI status monitoring.

NOTE:

It is recommended to clear EVENTS register 0x0E by read request before regular

operation.

Recognition of a status event can fail; in case it is triggered right before or

during EVENTS register 0x0E becomes cleared.

In order to prevent events from being cleared, assign EVENT_CLEAR_CONF register

0x0C according to the particular event in the EVENTS register:

Action:

Set related EVENT_CLEAR_CONF register bit position to 1.

Result:

The related event is not cleared when EVENTS register is read out.

In order to clear these events, do the following, if necessary:

Action:

Set related EVENT_CLEAR_CONF register 0x0C bit position to 0.

Read out EVENTS register 0x0E.

Set related EVENT_CLEAR_CONF register bit position to 1.

Result:

The related event is cleared after reading out EVENTS register.

Association of

Status Bits

Automatic

Clearance of

EVENTS

AREAS OF

SPECIAL

CONCERN

How to Avoid

Lack of

Information

!






MAIN MANUAL

SPI Status Bit Transfer

Up to eight events can be selected for permanent SPI status report. Consequently, these events

are always transferred at the most significant transfer bits within each TMC4361 SPI response.

In order to select an event for the SPI status bits, assign the

SPI_STATUS_SELECTION register 0x0B according to the particular event in the

EVENTS register:

Action:

Set the related SPI_STATUS_SELECTION register bit position to 1.

Result:

The related event is transferred with every SPI datagram response as SPI_STATUS.

NOTE:

The bit positions are sorted according to the event bit positions in the EVENTS register

0x0E. In case more than eight events are selected, the first eight bits (starting from

index 0 = LSB) are forwarded as SPI_STATUS.

Generation of Interrupts

Similar to EVENT_CLEAR_CONF register and SPI_STATUS_SELECTION register, events can be selected

for forwarding via INTR output. The selected events are ORed to one signal which means that INTR

output switches active as soon as one of the selected events triggers.

In order to select an event for the INTR output pin, assign the INTR_CONF

register 0x0D according to the particular event in the EVENTS register:

Action:

Set the related INTR_CONF register bit position to 1.

Result:

The related event is forwarded at the INTR output. If more than one event is

requested, INTR becomes active as soon as one of the selected events is active.

Per default, the INTR output is low active.

In order to change the INTR polarity to high active, do the following:

Action:

Set intr_pol =1 (GENERAL_CONF register 0x00).

Result:

INTR is high active.

Assign an Event

to a Status Bit

Generate

Interrupts

INTR Output

Polarity






MAIN MANUAL

Connection of Multiple INTR Pins

INTR pin can be configured for a shared interrupt signal line of several TMC4361 interrupt signals

to the microcontroller.

In order to make use of a Wired-Or or Wired-And behavior, the below described

actions must be taken:

Action:

Step 1: Set intr_tr_pu_pd_en = 1 (GENERAL_CONF register 0x00).

OPTION 1: WIRED-OR

Action:

Step 2: Set intr_as_wired_and = 0 (GENERAL_CONF register 0x00).

Result:

The INTR pin works efficiently as Wired-Or (default configuration).

i In case INTR pin is inactive, the pin drive has a weak inactive polarity output. If

one of the connected pins is activated, the whole line is set to active polarity.

OPTION 2: WIRED-AND

Action:

Step 2: Set intr_as_wired_and = 1 of the GENERAL_CONF register 0x00.

Result:

In case no interrupt is active, the INTR pin has a strong inactive polarity output.

During the active state, the pin drive has a weak active polarity output.

Consequently, the whole signal line is activated in case all pins are forwarding the

active polarity.

Connecting

several

Interrupt Pins






MAIN MANUAL

6. Ramp Configurations for different Motion Profiles

Step generation is one of the main tasks of a stepper motor motion controller. The internal ramp

generator of TMC4361 provides several step generation configurations with different motion

profiles. They can be configured in combination with the velocity or positioning mode.

Pin Names: Ramp Generator


STPOUT_PWMA Output Step output signal.

DIROUT_PWMB Output Direction output signal.

Table 12: Pin Names: Ramp Generator

Register Names: Ramp Generator

Register Name Register

Address Remarks

GENERAL_CONF 0x00 RW Ramp generator affecting bits 5:0.

STP_LENGTH_ADD

0x10 RW

Additional step length in clock cycles; 16 bits.

DIR_SETUP_TIME Additional time in clock cycles when no steps will occur after a

direction change; 16 bits.

RAMPMODE 0x20 RW Requested motion profile and operation mode; 3 bits.

XACTUAL 0x21 RW Current internal microstep position; signed; 32 bits.

VACTUAL 0x22 R Current step velocity; 24 bits; signed; no decimals.

AACTUAL 0x23 R Current step acceleration; 24 bits; signed; no decimals.

VMAX 0x24 RW Maximum permitted or target velocity; signed; 32 bits= 24+8 (24 bits

integer part, 8 bits decimal places).

VSTART 0x25 RW Velocity at ramp start; unsigned; 31 bits=23+8.

VSTOP 0x26 RW Velocity at ramp end; unsigned; 31 bits=23+8.

VBREAK 0x27 RW At this velocity value, the acceleration/deceleration will change during

trapezoidal ramps; unsigned; 31 bits=23+8.

AMAX 0x28 RW Maximum permitted or target acceleration; unsigned; 24 bits=22+2 (22

bits integer part, 2 bits decimal places).

DMAX 0x29 RW Maximum permitted or target deceleration; unsigned; 24 bits=22+2.

ASTART 0x2A RW Acceleration at ramp start or below VBREAK; unsigned; 24 bits=22+2.

DFINAL 0x2B RW Deceleration at ramp end or below VBREAK; unsigned; 24 bits=22+2.

BOW1 0x2D RW First bow value of a complete velocity ramp; unsigned; 24 bits=24+0

(24 bits integer part, no decimal places).

BOW2 0x2E RW Second bow value of a complete velocity ramp; unsigned; 24bits=24+0.

BOW3 0x2F RW Third bow value of a complete velocity ramp; unsigned; 24 bits=24+0.

BOW4 0x30 RW Fourth bow value of a complete velocity ramp; unsigned; 24 bits=24+0.

CLK_FREQ 0x31 RW External clock frequency fCLK; unsigned; 25 bits.

XTARGET 0x37 RW Target position; signed; 32 bits.

Table 13: Register Names: Ramp Generator






MAIN MANUAL

Step/Dir Output Configuration

This section focuses on the description of the Step/Dir output configuration.

Step/Dir output signals can be configured for the driver circuit.

If step signals must be longer than one clock cycle, do as follows:

Action:

Set proper STP_LENGTH_ADD register 0x10 (bit 15:0).

Result:

The resulting step length is equal to STP_LENGTH_ADD+1 clock cycles. This is how the

step length is assigned within a range of up to 1-up-to-216 clock cycles.

Action:

Set proper DIR_SETUP_TIME register 0x10 (bit 31:16).

Result:

The delay period between DIROUT and STPOUT voltage level transitions last

DIR_SETUP_TIME clock cycles. No steps are sent via STPOUT for DIR_SETUP_TIME clock

cycles after a level change at DIROUT.

PRINCIPLE:

DIROUT does not change the level:

During active step pulse signal

For (STP_LENGTH_ADD+1) clock cycles after the step signal returns to inactive

level

STPOUT characteristics can be set differently, as follows:

Per default, the step output is high active because a rising edge at STPOUT indicates

a step.

In order to change the polarity, do as follows:

Action:

Set step_inactive_pol =1 (bit3 of GENERAL_CONF register 0x00).

Result:

Each falling edge indicates a step.

In order to prompt a step at every level change, do as follows:

Action:

Set toggle_step =1 (bit4 of GENERAL_CONF register 0x00).

Result:

Every level change indicates a step.


Step/Dir Output

Configuration

Steps

STPOUT:

Changing

Polarity

How to prompt

Level Change

with every Step






MAIN MANUAL

Per default, voltage level 1 at DIROUT indicates a negative step direction.

DIROUT characteristics can be set differently, as shown below.

In order to change polarity, do as follows:

Action:

Set pol_dir_out =0 (bit5 of GENERAL_CONF register 0x00).

Result:

A high voltage level at DIROUT indicates a positive step direction.

NOTE:

DIROUT is based on the internal µStep position MSCNT and is therefore based on the

internal SinLUT, see 10.2. , page 90 .

Altering the Internal Motion Direction

Per default, a positive internal velocity VACTUAL results in a forward motion through internal

SinLUT. Consequently, if VACTUAL < 0, the SinLUT values are developed backwards.

In order to alter the default setting of the Internal Motion Direction, do as

follows:

Action:

Set reverse_motor_dir =1 (bit28 of GENERAL_CONF register 0x00).

Result:

A positive internal velocity for VACTUAL results in a backward motion through the

internal SinLUT.

DIROUT:

Changing the

Polarity

How to change

Motion Direction






MAIN MANUAL

Configuration Details for Operation Modes and Motion Profiles

This section provides information on the two available operation modes (velocity mode and

positioning mode), and on the four possible motion profiles (no ramp, trapezoidal ramp including

sixPoint™ ramp, and S-shaped ramp). Different combinations are possible. Each one of them has

specific advantages. The choice of configuration depends on the user’s design specification to best

suit his design needs.

With proper configuration, the internal ramp generator of the TMC4361 is able to

generate various ramps with the related step outputs for STPOUT.

In order to configure the internal ramp generator successfully – i.e. to make it fit as

best as possible with your specific use case – information about the scope of each

possible combination is provided in the table below and on the following pages.

Ramp Generator Configuration Options

Operation

Mode Motion Profile RAMPMODE(2:0) Description

Velocity

Mode

No ramp b’000 Follows VMAX request only.

Trapezoidal ramp b’001 Follows VMAX request and considers acceleration

and deceleration values.

sixPoint ramp b’001

Follows VMAX request and considers acceleration /

deceleration values and start and stop velocity

values.

S-shaped ramp b’010

Follows VMAX request and considers maximum

acceleration / deceleration values and adapts

these values with 4 different bow values.

Positioning

Mode

No Ramp b’100 Follows XTARGET and VMAX requests only.

Trapezoidal ramp b’101

Follows XTARGET request and a maximum velocity

VMAX request and considers acceleration and

deceleration values.

sixPoint ramp b’101


VMAX request and considers acceleration /

deceleration values and start and stop velocity

values.

S-shaped ramp b’110


VMAX request and considers maximum

acceleration / deceleration values and adapts

these values with 4 different bow values.

Table 14: Overview of General and Basic Ramp Configuration Options

Description of

Internal Ramp

Generator






MAIN MANUAL

Starting Point: Choose Operation Mode

Two operation modes are available: velocity mode and positioning mode.

Before setting any parameters:

First select:

Operation mode and

Motion profile

It is not advisable to change operation mode nor motion profile during motion.

The RAMPMODE register provides a choice of two operation modes. Either velocity

mode or positioning mode can be chosen.

In order to use the velocity mode, do as follows:

Action:

Set RAMPMODE(2) =0 (RAMPMODE register 0x20).

Result:

Velocity mode is selected. The target velocity VMAX is reached with the selected

motion profile.

In order to make use of the positioning mode, do as follows:

Action:

Set RAMPMODE(2)=1 (RAMPMODE register 0x20).

Result:

Positioning mode is selected. VMAX is the maximum velocity value of this motion

profile that is based on the condition that the ramp stops at target position XTARGET.

NOTE:

The sign of VMAX is not relevant during positioning. The direction of the steps

depends on XACTUAL, XTARGET, and the current ramp motion profile status.

NOTE:

Do NOT exceed VMAX ≤ fCLK ¼ pulses for positioning mode.

! BEFORE YOU

BEGIN

Operation Mode:

Velocity Mode

Operation Mode:

Positioning

Mode






MAIN MANUAL

Three basic motion profiles are provided. Each one of them has a different velocity

value development during the drive. See table below.

For configuration of the motion profiles, do as follows:

Action:

Use the bits 1 and 0 of the RAMPMODE register 0x20.

Result:

As specified in the table below.

You can choose different configuration options from the list below:

No Ramp motion profile

Trapezoidal Ramp motion profile (including sixPoint Ramp)

S-shaped Ramp motion profiles

TMC4361 Motion Profile

RAMPMODE

(1:0)

Motion

Profile Function

b’00 No Ramp Follow VMAX only (rectangular velocity shape).

b’01

Trapezoidal

Ramp

Consideration of acceleration and deceleration

values without adaptation of these acceleration

values.

sixPoint

Ramp

Consideration of acceleration and deceleration

values without adaptation of these acceleration

values.

Usage of start and stop velocity values.

(see section 6.5. , Page 46)

b’10 S-shaped

Ramp Use all ramp values (including bow values).

Table 15: Description of TMC4361 Motion Profiles

Motion Profile

Configuration






MAIN MANUAL

Figure 19: No Ramp Motion Profile

In order to make use of the no ramp motion profile, which is rectangular, do

as follows:

Action:

Set RAMPMODE(1:0) =b’00 (register 0x20).

Set proper VMAX register 0x24.

Result:

The internal velocity VACTUAL is immediately set to VMAX.

Combining positioning mode with the no ramp motion profile determines that the

ramp holds VMAX until XTARGET is reached. The motion direction depends on

XTARGET.

In order to make use of the no ramp motion profile in combination with the

positioning mode, do as follows:

Action:

Set RAMPMODE(2:0) =b’100.


Set proper XTARGET register 0x37.

Result:

VACTUAL is set instantly to 0 in case the target position is reached.

NOTE:

Do NOT exceed VMAX ≤ fCLK / 4 pulses for positioning mode.

v(t)

t

VMAX

No Ramp Motion

Profile

Positioning

Mode combined

with No Ramp

Motion Profile






MAIN MANUAL

In order to make use of a trapezoidal 4-point ramp motion profile without

break velocity, do as follows:

Action:


Set VBREAK =0 (register 0x27).

Set proper AMAX register 0x28 and DMAX register 0x29.


Result:

The internal velocity VACTUAL is changed successively to VMAX with a linear ramp.

Only AMAX and DMAX define the acceleration/deceleration slopes.

NOTE:

AMAX determines the rising slope from absolute low to absolute high velocities,

whereas DMAX determines the falling slope from absolute high to absolute low

velocities.

Acceleration slope and deceleration slopes have only one acceleration and

deceleration value each.

Figure 20: Trapezoidal Ramp without Break Point Figure 21: Trapezoidal Ramp with Break Point

In order to make use of a trapezoidal ramp motion profile with break velocity,

do as follows:

Action:

Set RAMPMODE(1:0)=b’01 (register 0x20).

Set proper VBREAK register 0x27.


Set proper ASTART register 0x2A and DFINAL register 0x2B.


Result:

The internal velocity VACTUAL is changed successively to VMAX with a linear ramp. In

addition to AMAX and DMAX, ASTART and DFINAL define the acceleration or

deceleration slopes (see Figure above).

NOTES:

AMAX and ASTART determines the rising slope from absolute low to absolute high

velocities.

DMAX and DFINAL determines the falling slope from absolute high to absolute low

velocities.

The acceleration/deceleration factor alters at VBREAK. ASTART and DFINAL are valid

below VBREAK, whereas AMAX and DMAX are valid beyond VBREAK.

v(t)

t

VMAXA1 A2 A3

v(t)

t

VMAX

VBREAK

A1 A2 A3LA1L A3

Trapezoidal

4-Point Ramp

without Break

Point

Trapezoidal

Ramp with Break

Point






MAIN MANUAL

Motion direction depends on XTARGET.

In order to use a 4-point or sixPoint ramps during positioning mode, do as

follows:

Action:


Set Trapezoidal ramp type accordingly, as explained above.

Set proper XTARGET register 0x37.

Result:

The ramp finishes exactly at the target position XTARGET by keeping

|VACTUAL| = VMAX as long as possible.

AACTUAL assignments apply both for 4-point and sixPoint ramps.

The acceleration/deceleration factor AACTUAL register depends on the current ramp

phase and the velocity that needs to be reached. The related sign assignment for

different ramp phases is given in the following table:

AACTUAL ASSIGNMENTS for Trapezoidal Ramps

Ramp phase: A1L A1 A2 A3 A3L

v>0: AACTUAL= ASTART AMAX 0 −DMAX −DFINAL

v<0: AACTUAL= −ASTART −AMAX 0 DMAX DFINAL

Table 16: Trapezoidal Ramps: AACTUAL Assignments during Motion

Position Mode

combined with

Trapezoidal

Ramps

AACTUAL

Assignments for

Trapezoidal

Ramps






MAIN MANUAL

In order to make use of S-shaped ramps, do as follows:

Action:


Set proper BOW1 … BOW4 registers 0x2C…0x30.


Set ASTART = 0 (register 0x2A).

Set DFINAL = 0 (register 0x2B).


Result:

The internal velocity VACTUAL is changed successively to VMAX with S-shaped ramps.

The acceleration/deceleration values are altered on the basis of the bow values.

Figure 22: S-shaped Ramp without initial and final Acceleration/Deceleration Values

Rising slope (absolute lower velocities to absolute higher velocities):

BOW1 determines the value which increases the absolute acceleration value.

BOW2 determines the value which decreases the absolute acceleration value.

AMAX determines the maximum acceleration value.

Falling slope (absolute higher velocities to absolute lower velocities):

BOW3 determines the value which increases the absolute deceleration value.

BOW4 determines the value which decreases the absolute deceleration value.

DMAX determines the maximum absolute deceleration value.

Description is continued on next page.

v(t)

t

VMAXB1 B12 B23 B34B3 B4B2

ASTART=0 DFINAL=0

Configuration of

S-Shaped Ramps

Definition of

Rising Slope for

S-shaped Ramps

Definition of

Falling Slope for

S-shaped Ramps






MAIN MANUAL

If the ramp must be stopped during positioning mode with XTARGET:

Avoid unintended system behavior during positioning mode!

You MUST set VMAX to 1. Never to 0.

After VACTUAL=0 (i.e. VEL_REACHED_F flag is set) is reached, set VMAX=0.

This will ensure smooth operation during positioning mode.

Changing ramp parameters1 during motion is not advised. Should this be necessary, the following

applies:


Ramp parameter value changes2 during ramp progress are allowed but can

lead to:

A temporary overshooting of XTARGET or mechanical stop positions.

A temporary overshooting of VACTUAL beyond VMAX because the bows B1, B2,

B3, and B4 are maintained during the ramp progress.

This will ensure smooth operation during positioning mode. 1 Exceptions are XTARGET and VMAX. These Parameters can be changed during motion.

2 Ramp parameter value changes are allowed but need to be conducted with extra care.

In order to configure S-shaped ramps with starting and finishing values for

acceleration or deceleration, do as follows:

Action:


Set S-Shaped ramp as explained above (BOW1 … BOW4, AMAX, DMAX).

Set proper ASTART register 0x2A.

Set proper DFINAL register 0x2B.


Result:

The internal velocity VACTUAL is changed successively to VMAX with S-Shaped ramps.

Figure 23: S-shaped Ramp with initial and final Acceleration/Deceleration Values


v(t)

t

VMAX

B1 B12 B23 B34B3 B4B2

ASTART>0 DFINAL>0

NOTICE

NOTICE

Configuration of

S-shaped Ramp

with ASTART and

DFINAL






MAIN MANUAL

If S-shaped ramps are selected:

Avoid unintended system behavior!

Do NOT switch RAMPMODE, if VACTUAL is not constant.

Do NOT switch to positioning mode, if VACTUAL ≠ 0 and the difference between

XACTUAL and XTARGET is too small for the given falling slope.

This will ensure smooth operation.

NOTE:

There is one exception: If circular motion (see 0) is enabled and current velocity is too

high for exact positioning during one revolution, it is possible to change from velocity

to positioning mode.

The acceleration/deceleration values are altered based on the bow values.

The start phase and the end phase of an S-shaped ramp is

accelerated/decelerated by ASTART and DFINAL.

The ramp starts with ASTART and stops with DFINAL.

DFINAL becomes valid when AACTUAL reaches the chosen DFINAL value.

i The parameter DFINAL is not considered during positioning mode.

AACTUAL assignments and current bow value selection for S-shaped ramps.

The acceleration/deceleration factor depends on the current ramp phase and alters

every 64 clock cycles during the bow phases B1, B2, B3, and B4.

Details are provided in the table below:

RAMPMODE(2:0) =b’110

The ramp finishes exactly on target position; keeping |VACTUAL| = VMAX as

long as possible until the ramp falls to reach XTARGET exactly.

It is possible that the phases B12, B23, and B34 are left out due to given

values. Therefore, the highest speed performance is possible due to a

maximum speed positioning ramp.

The fastest possible slopes are always performed if the phases B12 and/or

B34 are not reached during a rising and/or falling S-shaped slope.

The ramp maintains the maximum velocity VMAX as long as possible in

positioning mode until the falling slope finishes the ramp to reach XTARGET

exactly. The result is the fastest possible positioning ramp in matters of time.

NOTICE

Definitions for

S-shaped Ramps

AACTUAL

Assignments for

S-shaped Ramps

S-shaped Ramps: Assignments for AACTUAL and Internal Bow Value

Ramp phase: B1 B12 B2 B23 B3 B34 B4

v>0: AACTUAL= ASTARTàAMAX AMAX AMAXà0 0 0à−DMAX −DMAX −DMAXà−DFINAL

BOWACTUAL= BOW1 0 −BOW2 0 −BOW3 0 BOW4

v<0: AACTUAL= −ASTARTà−AMAX −AMAX −AMAXà0 0 0àDMAX DMAX DMAXàDFINAL

BOWACTUAL= −BOW1 0 BOW2 0 BOW3 0 −BOW4

Table 17: Parameter Assignments for S-shaped Ramps

S-shaped Mode

and Positioning:

Fast Motion






MAIN MANUAL

Start Velocity VSTART and Stop Velocity VSTOP

S-shaped and trapezoidal velocity ramps can be configured with unsigned start and stop velocity

values:

VSTART, or VSTOP. Per default, VSTART and VSTOP are set to 0. The sign is selected automatically,

depending on the current ramp status and the target velocity, or target position. This section

explains how to set up the respective values correctly.

S-shaped and trapezoidal velocity ramps can be started with an initial velocity value,

if you set the VSTART value higher than zero (see Figure below).

In order to use trapezoidal ramps with an initial start velocity, do as follows:

Action:


Set Trapezoidal ramp type accordingly, as explained before.

Set proper VSTART > 0 (register 0x25).

Set VSTOP = 0 (register 0x26).

Result:

The trapezoidal ramp starts with initial velocity.

NOTE:

The initial acceleration value is AMAX if VBREAK < VSTART, otherwise the starting

acceleration value is ASTART.

Figure 24: Trapezoidal Ramp with initial Velocity

If trapezoidal ramp with initial velocity VSTART is selected:


Use VSTART without setting VSTOP > VSTART only in positioning mode if there is

enough distance between the current position XACTUAL and the target position

XTARGET.


Turn page for information on how to configure S-shaped ramps with initial start

velocity.

v(t)

t

VMAX

VBREAK

A1 A2 A3LA1L A3

VSTART

Starting Ramps

with initial

Velocity

NOTICE






MAIN MANUAL

In order to use S-shaped ramps with initial start velocity, do as follows:

Action:


Set S-shaped ramp type accordingly, as explained before.


Set VSTOP = 0 (register 0x26).

Result:

The S-shaped ramp starts with initial velocity.

PRINCIPLE:

The initial acceleration value is equal to AMAX. The parameter ASTART is not

considered. Consequently, ramp phase B1 is not performed.

Figure 25: S-shaped Ramp with initial Start Velocity

If S-shaped ramp with initial velocity VSTART is selected:


Keep in mind that the S-shaped character of the curve is maintained. Because

AMAX is the start acceleration value, the ramp will always execute phase B2

which could result in positioning overshoots.

Use VSTART only in positioning mode if there is enough distance between the

current position XACTUAL and the target position XTARGET.


Turn page for information on how to configure finishing ramps with stop velocity.

v(t)

t


VSTART

S-shaped Ramps

with initial Start

Velocity

NOTICE






MAIN MANUAL

S-shaped and trapezoidal velocity ramps can be finished with a stop velocity value if

you set VSTOP value higher than zero (see figure below).

In order to configure trapezoidal ramps with stop velocity, do as follows:

Action:


Set Trapezoidal ramp type accordingly, as explained before.

Set VSTART = 0 (register 0x25).

Set proper VSTOP > 0 (register 0x26).

Result:

The trapezoidal ramp stops with defined velocity.

Figure 20: Trapezoidal Ramp with Stop Velocity

If trapezoidal ramps are selected (VBREAK > 0):


Set VBREAK > VSTOP.

Set VSTART < VSTOP.


Turn page for configuration information on S-shaped ramps with stop velocity.

v(t)

t

VMAX

VBREAK

A1 A2 A3LA1L A3

VSTOP

Finishing Ramps

with Stop

Velocity

NOTICE






MAIN MANUAL

In order to use S-shaped ramps with stop velocity, do as follows:

Action:



Set VSTART = 0 (register 0x25).


Result:

The S-shaped ramp finishes with stop velocity.

NOTE:

The final deceleration value is equal to DMAX. The parameter DFINAL is not

considered. Consequently, ramp phase B4 is not performed.

Figure 26: S-shaped Ramp with Stop Velocity

Interaction of VSTART, VSTOP, VACTUAL and VMAX:

VSTART and VSTOP are only used to start or end a velocity ramp. If the velocity

direction alters due to register assignments while a velocity ramp is in

progress, the velocity values develop according to the current velocity ramp

type without using VSTART or VSTOP.

VSTOP can be used in positioning mode, if the target position is reached. In

velocity mode, VSTOP can only be used if VACTUAL ≠ 0 and the target velocity

VMAX is assigned to 0.

The unsigned values VSTART and VSTOP are valid for both velocity directions.

Every register value change is assigned immediately.

Turn page for information on how to configure S-shaped ramps with start and stop

velocity.

v(t)

t


VSTOP

S-shaped Ramps

with Stop

Velocity






MAIN MANUAL

S-shaped ramps can be configured with a combination of VSTART and VSTOP.

It is possible to include both processes in one S-Shaped ramp to decrease the time

between start and stop of the ramp.

In order to use S-Shaped ramps with a combination of start and stop velocity,

do as follows:

Action:

Set RAMPMODE(1:0)=b’10.




Result:

The S-shaped ramp starts with initial velocity and stops with defined velocity.

Figure 27: S-shaped Ramp with Start and Stop Velocity

If S-shaped ramp with initial velocity VSTART and stop velocity VSTOP is selected:



AMAX is the start acceleration value, the ramp will always execute phase B2,


Use VSTART in positioning mode, if there is enough distance between the

current position XACTUAL and the target position XTARGET.


Turn page for information on how to use VSTART and ASTART for S-shaped ramps.

v(t)

t


VSTOPVSTART

S-shaped Ramps

with Start and

Stop Velocity

NOTICE






MAIN MANUAL

For some S-shaped ramp applications it can be useful to start with a defined velocity

value (VSTART > 0);but not with the maximum acceleration value AMAX.

In order to start with a defined velocity value, do as follows:

Action:





Set use_astart_and_vstart =1 (bit0 of the GENERAL_CONF register 0x00).

Result:

The following special ramp types can be generated in this way, as shown below.

i Section B1 is passed through although VSTART is used.

Using VSTART and starting acceleration of 0

for S-shaped ramps

Using VSTART and starting acceleration,

which is smaller than AMAX for S-shaped ramps

Figure 28: S-shaped Ramps with combined VSTART and ASTART Parameters

If S-shaped ramp with VSTART, ASTART, and VSTOP is selected:



ASTART is the start acceleration value, the ramp will always execute phase B2,


Use VSTART and ASTART > 0 without setting VSTOP > VSTART only in positioning

mode, if there is enough distance between the current position XACTUAL and

the target position XTARGET.


v(t)


VSTOP

VSTART

aSTART = 0

v(t)

t


VSTOP

VSTART

aSTART > 0

Combined use of

VSTART and

ASTART for

S-shaped Ramps

NOTICE






MAIN MANUAL

sixPoint Ramps

sixPoint ramps are trapezoidal ramps with initial and stop velocity values that also make use of

two acceleration and two deceleration values.

sixPoint ramps are trapezoidal velocity ramps that can be configured with a

combination of VSTART and VSTOP.

In order to use trapezoidal ramps with a combination of start and stop

velocity, do as follows:

Action:


Set a Trapezoidal ramp type appropriately as explained before.



Set proper VBREAK > 0 (register 0x27).

Result:

The sixPoint ramp starts with an initial velocity and stops with a defined

velocity.

v(t)

t

VMAX

VBREAK

A1 A2 A3LA1L A3

VSTOPVSTART

Figure 29: sixPoint Ramp: Trapezoidal Ramp with Start and Stop Velocity

If a sixPoint ramp is used:


Set VBREAK > VSTOP.

Set VSTART < VSTOP.


Configuration of

sixPoint Ramps

Diagram of

sixPoint Ramp

NOTICE






MAIN MANUAL

Internal Ramp Generator Units

This section provides information about the arithmetical units of the ramp parameters.

All parameter units are real arithmetical units.

Therefore, it is necessary to set the CLK_FREQ register 0x31 to proper [Hz] value,

which is defined by the external clock frequency fCLK. Any value between

fCLK = 4.2 MHz and 32 MHz can be selected.

Default configuration is 16 MHz.

Velocity values are always defined as pulses per second [pps].

VACTUAL is given as a 32-bit signed value with no decimal places. The unsigned

velocity values VSTART, VSTOP, and VBREAK consist of 23 digits and 8 decimal places.

VMAX is a signed value with 24 digits and 8 decimal places.

The maximum velocity VMAX is restricted as follows:

VMAX ≤ ½ pulse · fCLK

NOTE:

In case VACTUAL exceeds this limit INCORRECT step pulses at STPOUT output occur.

The unsigned values AMAX, DMAX, ASTART, DFINAL, and DSTOP consist of 22 digits and

2 decimal places.

AACTUAL shows a 32-bit nondecimal signed value. Acceleration and deceleration

units are defined per default as pulses per second² [pps²].

If higher acceleration/deceleration values are required for short and steep

ramps, do as follows:

Action:

Set direct_acc_val_en =1 (GENERAL_CONF register 0x00).

Result:

The parameters are defined as velocity value change per clock cycle with 24-bit

unsigned decimal places (MSB =2-14). The values are calculated as follows:

AMAX [pps2] = AMAX / 237 · fCLK2

DMAX [pps2] = DMAX / 237 · fCLK2

ASTART [pps2] = ASTART / 237 · fCLK2

DFINAL [pps2] = DFINAL / 237 · fCLK2

DSTOP [pps2] = DSTOP / 237 · fCLK2

The maximum acceleration or deceleration values, in case direct_acc_val_en is

activated, are as follows:

AMAX ≤ 65535

DMAX ≤ 65535

ASTART ≤ 65535

DFINAL ≤ 65535

DSTOP ≤ 65535


Clock Frequency

Velocity Value

Units

Acceleration

Value Units






MAIN MANUAL

Bow values BOW1…BOW4:

Bow values are unsigned 24-bit values without decimal places. They are defined per

default as pulses per second³ [pps³].

In case higher bow values are required for short and steep ramps, do as

follows:

Action:

Set direct_bow_val_en =1 (GENERAL_CONF register 0x00)

Result:

The parameters are defined as acceleration value change per clock cycle with 24-bit

unsigned decimal places with the MSB defined as 2-29.

The particular bow values BOW1, BOW2, BOW3, BOW4 are calculated as follows:

BOWx [pps3] = BOWx / 253 · fCLK3

The maximum bow values, in case direct_acc_val_en is activated, are as follows:

BOW1…4 ≤ 4095

Overview of Minimum and Maximum Values:

Minimum and Maximum Values (Frequency Mode)

Value Classes Velocity Acceleration Bow Clock

Affected Registers VMAX, VSTART,

VSTOP, VBREAK

AMAX, DMAX,

ASTART, DFINAL

BOW1, BOW2,

BOW3, BOW4 CLK_FREQ (fCLK)

Minimum value 3.906 mpps 0.25 mpps2 1 mpps3 4.194 MHz

Maximum value

8.388 Mpps

and

½ pulse · fCLK

4.194 Mpps2 16.777 Mpps3 32 MHz

Table 18: Minimum and Maximum Values if Real World Units are selected

Minimum and Maximum Values for Steep Slopes (Direct Mode, example with fCLK =16MHz)

Value Classes Acceleration (direct_acc_val_en =1) Bow (direct_bow_val_en =1)

Affected Registers AMAX, DMAX, ASTART, DFINAL, DSTOP BOW1, BOW2, BOW3, BOW4

Value restrictions: < 65536 < 4096

Calculation a[pps²] = (∆v/clk_cycle) / 237 · fCLK2 bow[pps³] = (∆a/clk_cycle) / 253 · fCLK

3

Minimum value ~1.86 kpps² ~454.75 kpps³

Maximum value ~122.07 Mpps² ~1.86 Gpps3

Table 19: Minimum and Maximum Values for Steep Slopes for fCLK =16MHz

Bow Value Units






MAIN MANUAL

7. External Step Control and Electronic Gearing

Steps can also be generated by external steps that are manipulated internally by an electronic

gearing process. In the following chapter, steps generation by external control and electronic

gearing is presented.

Pins for External Step Control


STPIN Input Step input signal.

DIRIN Input Direction input signal.

Table 20: Pins used for External Step Control

Registers used for external Step Control


GENERAL_CONF 0x00 RW Bits 9:6, 26.

GEAR_RATIO 0x12 RW

Electronic gearing factor; signed;

32 bits=8+24 (8 bits integer part, 24 bits decimal

places).

Table 21: Registers used for External Step Control

In order to synchronize with other motion controllers, TMC4361 offers a step

direction input interface at the STPIN and DIRIN input pins.

i Three options are available. In case one of these options is selected, the internal

step generator is disabled.

OPTION 1: HIGH ACTIVE EXTERNAL STEPS

Action:

Set sdin_mode = b’01 (GENERAL_CONF register 0x00).

Result:

As soon as the STPIN input signal switches to high state the control unit recognizes

an external step.

OPTION 2: LOW ACTIVE EXTERNAL STEPS

Action:


Result:

As soon as the STPIN input signal switches to low state the control unit recognizes

an external step.

OPTION 3: TOGGLING EXTERNAL STEPS

Action:


Result:

As soon as the STPIN input signal switches to low or high state the control unit

recognizes an external step.


Enabling

External Step

Control






MAIN MANUAL

DIRIN polarity can be assigned. Per default, the negative direction is indicated by

DIRIN = 0.

In order to change this polarity:

Action:

Set pol_dir_in = 1 (GENERAL_CONF register 0x00).

Result:

A negative input direction is assigned by DIRIN = 1.

If an external step is not congruent with an internal step, the GEAR_RATIO register

0x12 must be set accordingly. This signed parameter consists of eight bit digits and

24 bits decimal places.

With every external step the assigned GEAR_RATIO value is added to an internal

accumulation register. As soon as an overflow occurs, an internal step is generated

and the remainder will be kept for the next external step.

Any absolute gearing value between 2-24 and 127 is possible.

NOTE:

Gearing ratios beyond 1 are more reasonable for the SPI output. The internal

SinLUTable is used that generates multiple steps one after another without

interpolation, if the accumulation register value is above 1. In contrast to a burst of

steps at the STPOUT pin, the SPI output will only forward the new position in the inner

SinLUT where only some values have been skipped if |GEAR_RATIO|>1.

A negative gearing factor GEAR_RATIO < 0 inverts the interpretation of the input

direction which is determined by DIRIN and pol_dir_in.

It is possible to use the internal ramp generator in combination with the external

S/D interface.

In this case, the external step impulses transferred via STPIN and DIRIN cannot

influence the internal XACTUAL counter directly. Instead, the XTARGET register is

altered by 1 or −1 with every GEAR_RATIO accumulation register overflow.

NOTE:

Whether XTARGET is increased or decreased is determined similarly to the direct

electronic gearing control. The accumulation register overflow direction indicates the

target alteration. Respectively, the accumulation direction is determined by the

GEAR_RATIO sign, by pol_dir_in, and by DIRIN.

i This feature allows a synchronized motion of different positioning ramps for

different TMC4361 chips with differently configured ramps.

In order to select indirect external control, do as follows:

Action:

Set sdin_mode ≠ b’00 according to the required external control option.

Set sd_indirect_control = 1 (GENERAL_CONF register 0x00).

Result:

As soon as an external step is generated, XTARGET is increased or decreased,

according to the accumulation direction.

Selecting the

Input Direction

Polarity

Description of

Electronic

Gearing

Indirect External

Control






MAIN MANUAL

In some cases, it is useful to switch from external to internal ramp generation during

motion.

TMC4361 supports a smooth transfer from direct external control to an internal

ramp. The only parameter you need to know and apply is the current velocity when

the switching occurs. In more detail, this means that when the external control is

switched off, VSTART takes over the definition of the actual velocity value. The ramp

direction is then selected automatically. The time step of the last internal step is also

taken into account in order to provide a smooth transition from external to internal

ramp control.

In order to select automatic switching from external to internal control, do as

follows:

PRECONDITION (EXTERNAL DIRECT CONTROL IS ACTIVE):

Action:

Set sdin_mode ≠ b’00 (GENERAL_CONF register 0x00).


Set ASTART = 0 (register 0x2A).

PROCEED WITH:

Action:

Set automatic_direct_sdin_switch_off = 1 (GENERAL_CONF register 0x00) once

before switching to internal control.

Continually adapt VSTART register 0x25 according to the actual velocity of the

TMC4361 that must be calculated in the µC.

If switching must be prompted, set sdin_mode = b’00.

Result:

The internal ramp velocity is started with the value of VSTART, and the direction is set

automatically on the basis of the external steps that have occurred before.

Turn page for information on how configure smooth switching for S-shaped ramps.

Switching from

External to

Internal Control






MAIN MANUAL

In order to also support a smooth S-shaped ramp transition - when the external step

control is switched off - the starting acceleration value can also be set separately at

ASTART register 0x2A.

i In contrast to the automatic direction assignment, the sign of ASTART must be

set manually.

In order to select automatic switching from external to internal control with a

starting acceleration value, do as follows:

PRECONDITION (EXTERNAL DIRECT CONTROL IS ACTIVE):

Action:

Set sdin_mode ≠ b’00 (GENERAL_CONF register 0x00).


PROCEED WITH:

Action:

Set automatic_direct_sdin_switch_off = 1 once before switching to internal control.

Continually adapt VSTART register 0x25 according to the actual velocity of the

TMC4361 – that must be calculated in the µC. Continually adapt ASTART according

to the actual acceleration (unsigned value) of the TMC4361 – that must be

calculated in the µC. Continually set ASTART(31) = 0 or 1 according to the current

acceleration direction.

If switching must be prompted, set sdin_mode = b’00.

Result:

The internal ramp velocity is started with the value of VSTART, and the direction is set

automatically on the basis of the external steps that have occurred before. The

internal acceleration value is set to:

+ASTART if ASTART(31) = 0 or

−ASTART if ASTART(31) = 1.

Smooth

Switching for

S-shaped Ramps






MAIN MANUAL

8. Reference Switches

The reference input signals of the TMC4361 function partly as safety features. The TMC4361

provides a range of reference switch settings that can be configured for many different

applications. The TMC4361 offers two hardware switches (STOPL, STOPR) and two additional virtual

stop switches (VIRT_STOP_LEFT, VIRT_STOP_RIGHT). A home reference switch HOME_REF is also

available.

Pins used for Reference Switches


STOPL Input Left reference switch.

STOPR Input Right reference switch.

HOME_REF Input Home switch.

TARGET_REACHED Output Reference switch to indicate XACTUAL=XTARGET.

Table 22: Pins used for Reference Switches

Dedicated Registers for Reference Switches


REFERENCE_CONF 0x01 RW Configuration of interaction with reference pins.

HOME_SAFETY_MARGIN 0x1E RW Region of uncertainty around X_HOME.

DSTOP 0x2C RW

Deceleration value if stop switches STOPL / STOPR or

virtual stops are used with soft stop ramps. The

deceleration value allows for an automatic linear stop

ramp.

POS_COMP 0x32 RW Free configurable compare position; signed; 32 bits.

VIRT_STOP_LEFT 0x33 RW Virtual left stop that triggers a stop event at

XACTUAL ≤ VIRT_STOP_LEFT; signed; 32 bits.

VIRT_STOP_RIGHT 0x34 RW Virtual left stop that triggers a stop event at

XACTUAL ≥ VIRT_STOP_RIGHT; signed; 32 bits.

X_HOME 0x35 RW Home reference position; signed; 32 bits.

X_LATCH 0x36 RW Stores XACTUAL at different conditions; signed; 32

bits.

Table 23: Dedicated Registers for Reference Switches






MAIN MANUAL

Hardware Switch Support

The TMC4361 offers two hardware switches that can be configured according to your design.

The hardware provides a left and a right stop in order to stop the drive immediately

in case one of them is triggered. Therefore, pin 12 and pin 14 of the motion

controller must be used.

NOTE:

Both switches must be enabled before motion occurs.

In order to enable STOPL correctly, do as follows:

Action:

Determine the active polarity voltage of STOPL and set pol_stop_left

(REFERENCE_CONF register 0x01) accordingly.

Set stop_left_en =1 (REFERENCE_CONF register 0x01).

Result:

The current velocity ramp stops in case the STOPL voltage level matches pol_stop_left

and VACTUAL < 0.

In order to enable STOPR correctly, do as follows:

Action:

Determine the active polarity voltage of STOPR and set pol_stop_right

(REFERENCE_CONF register 0x01) accordingly.

Set stop_right_en =1 (REFERENCE_CONF register 0x01).

Result:

The current velocity ramp stops in case STOPR voltage level matches pol_stop_right

and VACTUAL > 0.

The stop slope can be configured for hard or linear stop slopes. Per default, hard

stops are selected.

If hard stops are required, do as follows:

OPTION 1: HARD STOP SLOPES

Action:

Set soft_stop_en =0 (REFERENCE_CONF register 0x01).

Result:

If one of the stop switches is active and enabled, the velocity ramp is set immediately

to VACTUAL = 0.

OPTION 2: LINEAR STOP SLOPES

If linear stop ramps are required:

Action:

Set soft_stop_en =1 (REFERENCE_CONF register 0x01).

Result:

If one of the stop switches is active and enabled, the velocity ramp is stopped with a

linear deceleration slope until VACTUAL = 0 is reached. In this case the deceleration

factor is determined by DSTOP. VSTOP is not considered during the stop deceleration

slope.

STOPL and

STOPR

Stop Slope

Configuration for

Hard or Linear

Stop Slopes






MAIN MANUAL

When a stop switch becomes active the related status flag is set in the STATUS flags

register 0x0F. The flag remains active as long as the stop switch remains active.

The particular event is also released in the EVENTS register 0x0E, which remains

active until the event bit is reset manually. When VACTUAL = 0 is reached after the

stop event no motion toward this particular direction is possible.

In order to move into the locked direction, the following is required:

PRECONDITION 1:

The particular stop switch is NOT active anymore.

AND/OR

PRECONDITION 2:

The stop switch is disabled (stop_left/right_en = 0).

Action:

Set back the active event by reading out the EVENTS register 0x0E.

i There is only one exception to this: If an event is selected for the

EVENT_CLEAR_CONF register in order to inhibit the regular clearing. See

information provided in Chapter 5, Page 24.

Result:

The active stop event is reset to free motion into the locked direction.

It is possible to select four different events to store the current internal position

XACTUAL in the register X_LATCH.

The table below show which transition of the reference signal leads to the X_LATCH

transfer. For each transition process the specified reference configurations in the

REFERENCE_CONF register 0x01 must be set accordingly.

If you need to change the directions of the reference switches, do as follows:

Action:

Set invert_stop_direction=1 (REFERENCE_CONF register 0x01).

Result:

STOPL is now the right reference switch and STOPR is now the left reference switch.

Consequently, all configuration parameters for STOPL become valid for STOPR and

vice versa.

How Active Stops

are indicated

and reset to Free

Motion

How to latch

Internal Position

on Switch Events

Reference Configuration pol_stop_left=0 pol_stop_left=1 pol_stop_right=0 pol_stop_right=1

latch_x_on_inactive_l=1 STOPL=0 à 1 STOPL=1 à 0 --- ---

latch_x_on_active_l=1 STOPL=1 à 0 STOPL=0 à 1 --- ---

latch_x_on_inactive_r=1 --- --- STOPR=0 à 1 STOPR = 1à0

latch_x_on_active_r=1 --- --- STOPR=1 à 0 STOPR = 0à1

Table 24: Reference Configuration and Corresponding Transition of particular Reference Switch

Interchange the

Reference

Switches

without Physical

Reconnection






MAIN MANUAL

Virtual Stop Switches

TMC4361 provides additional virtual limits; which trigger stop slopes in case the specific virtual

stop switch microstep position is reached. Virtual stop positions are assigned using the

VIRTUAL_STOP_LEFT register 0x33 and VIRTUAL_STOP_RIGHT register 0x34. In this section,

configuration details for virtual stop switches are provided for various design-in purposes.

NOTE:

Virtual stop switches must be enabled in the same manner as nonvirtual reference switches. Hitting a

virtual limit switch - by receiving the assigned position - triggers the same process as hitting STOPL or

STOPR.

In order to enable left virtual stop correctly, do as follows:

Action:

Set VIRTUAL_STOP_LEFT register 0x33 according to left stop position.

Set virtual_left_limit_en =1 (REFERENCE_CONF register 0x01).

Result:

The actual velocity ramp stops in case XACTUAL ≤ VIRT_STOP_LEFT. The ramp is

stopped according to the selected ramp type.

In order to enable right virtual stop correctly, do as follows:

Action:

Set VIRTUAL_STOP_RIGHT register 0x34 according to right stop position.

Set virtual_right_limit_en =1 (REFERENCE_CONF register 0x01).

Result:

The actual velocity ramp stops in case XACTUAL ≥ VIRT_STOP_RIGHT. The ramp is

stopped according to the selected ramp type.

The virtual stop slope can also be configured for hard or linear stop slopes.

If virtual hard stops are required, do as follows:

Action:

Set virt_stop_mode = b’01 (REFERENCE_CONF register 0x01).

Result:

If one of the virtual stop switches is active and enabled, the velocity ramp will be set

immediately to VACTUAL = 0.

If virtual linear stop ramps are required, do as follows:

Action:

Set virt_stop_mode = b’10 (REFERENCE_CONF register 0x01).

Result:

If one of the virtual stop switches is active and enabled, the velocity ramp is stopped

with a linear deceleration slope until VACTUAL = 0 is reached. In this case the

deceleration factor is determined by DSTOP. VSTOP is not considered during the stop

deceleration slope.


Enabling Virtual

Stop Switches

Virtual Stop

Slope

Configuration






MAIN MANUAL

At the same time when a virtual stop switch becomes active the related status flag

is activated in the STATUS flags register 0x0F. The flag remains active as long as the

stop switch remains active.

The particular event is also released in the EVENTS register 0x0E, which remains

active until the event is reset manually. When VACTUAL = 0 is reached after the stop

event no motion in the particular direction is possible.

In order to move into the locked direction, the following is required:

PRECONDITION 1:

The particular stop switch is NOT active anymore because the actual position does

not exceed the specified limit.

AND/OR

PRECONDITION 2:

Virtual stop switch is disabled (virtual_left/right_limit_en = 0).

Action:

Set back active event by reading out EVENTS register 0x0E.

i There is only one exception to this: If an event is selected for EVENT_CLEAR_CONF

register in order to inhibit the regular clearing. See information provided in

chapter 5, page 24.

Result:

The active virtual stop event bit is reset to free motion into the direction that was

locked beforehand.

i invert_stop_direction has no influence on VIRTUAL_STOP_LEFT and

VIRTUAL_STOP_RIGHT.

How Active

Virtual Stops are

indicated and

reset to Free

Motion






MAIN MANUAL

Home Reference Configuration

In this section home reference switch handling is explained with information about home tracking

modes, possible home event configurations and home event monitoring.

For monitoring, the switch reference input HOME_REF is provided.

Perform the following to initiate the homing process:

Action:

Assign a ramp according to your needs for the homing process.

Enable the home tracking mode with start_home_tracking = 1 (REFERENCE_CONF

register 0x01).

Set the correct home_event (REFERENCE_CONF register 0x01) for the HOME_REF

input pin (see Table 25, page 59).

Start the ramp towards the home switch HOME_REF.

Result:

When the next home event is recognized by TMC4361, XACTUAL is latched to

X_HOME.

At the same time, the start_home_tracking switch is disabled automatically and

The XLATCH_DONE event is released in the events register 0x0E. This event can

be used for an interrupt routine for the homing process in order to avoid

polling.

i If an incremental encoder is used to monitor the motion, the N channel can be

used to fine-tune the homing position (home_event = b’0000). After performing

the homing process - as explained before - the N channel events can be used

to obtain a more precise home position.

i X_HOME can be overwritten manually.


Switch

Reference Input

HOME_REF






MAIN MANUAL

Nine different home events are possible.

i Except for the home_event = b’0000, which uses the N signal of an incremental

ABN encoder, home events are related to the voltage levels of the HOME_REF

input pin:

An error flag HOME_ERROR_F is permanently evaluated. This error flag indicates

whether the current voltage level of the HOME_REF reference input is valid in regard

to X_HOME and the selected home_event.

In order to avoid false error flags (HOME_ERROR_F) because of mechanical

inaccuracies, it is possible to setup an uncertainty home range around X_HOME. In

this range, the error flag is not evaluated.

If you want to define an uncertainty area around X_HOME, do as follows:

Action:

Set HOME_SAFETY_MARGIN register 0x1E according to the required range in

µSteps.

Result:

The homing uncertainties – related to the special application environment – are

considered for the ongoing motion. The error flag is NOT evaluated in the following

range:

X_HOME − HOME_SAFETY_MARGIN ≤ XACTUAL ≤ X_HOME+HOME_SAFETY_MARGIN


Home Event

Selection

Home Event Selection Table

home_event Description X_HOME

(direction: negative / positive)

b’0011 HOME_REF = 0 indicates negative direction in

reference to X_HOME

b’1100 HOME_REF = 0 indicates positive direction in

reference to X_HOME

b’0110

HOME_REF = 1

indicates home

position

X_HOME in center

b’0010 X_HOME on the left side

b’0100 X_HOME on the right side

b’1001

HOME_REF = 0

indicates home

position

X_HOME in center

b’1011 X_HOME on the right side

b’1101 X_HOME on the left side

Table 25: Overview of different home_event Settings

HOME_REF

Monitoring

Defining a Home

Range around

HOME_REF

HOME_REF0

1

HOME_REF0

1

HOME_REF0

1

HOME_REF0

1

HOME_REF0

1

HOME_REF0

1

HOME_REF0

1

HOME_REF0

1






MAIN MANUAL

NOTE:

It is recommended to assign to a higher range value for HOME_SAFETY_MARGIN in

which the HOME_REF level is active for the home_events b’0110, b’0010, b’0100,

b’1001, b’1011, and b’1101. It avoids false positive HOME_ERROR_Flags.

After homing with the index channel (home_event = b’0000) for a precise assignment

of X_HOME the correct home_event has to be assigned in order to activate the

generation of HOME_ERROR_Flags. Note that home_event = b’0000 results in

HOME_ERROR_Flag=0 permanently.

The following examples illustrate the points at which the error flag is release – based

on the selected home_event – here for home_event = b’0011 (*), b’1100 (**), b’0110

(***), b’0010 (***), b’0100 (***), b’1001 (****), b’1011 (****), and b’1101 (****).

Figure 30: HOME_REF Monitoring and HOME_ERROR_FLAG

STOPL and STOPR inputs can also be used as HOME_REF inputs.

OPTION 1: STOPL IS THE HOME SWITCH

Action:

Set stop_left_is_home = 1 (REFERENCE_CONF register 0x01).

Result:

The stop event at STOPL only occurs when the home range is crossed after STOPL

becomes active. The home range is given by X_HOME and HOME_SAFETY_MARGIN.

OPTION 2: STOPR IS HOME SWITCH

Action:

Set stop_right_is_home = 1 (REFERENCE_CONF register 0x01).

Result:

The stop event at STOPR only occurs when the home region is crossed after STOPR

becomes active. The home region is given by X_HOME and HOME_SAFETY_MARGIN.

HOME_ERROR_Flag ***

HOME_REF

X_HOME

HOME_SAFETY_MARGIN

HOME_ERROR_Flag *

HOME_ERROR_Flag **

HOME_ERROR_Flag ****

X_HOME

HOME_SAFETY_MARGIN

HOME_ERROR_Flag ***

HOME_REF

HOME_ERROR_Flag *

HOME_ERROR_Flag **

HOME_ERROR_Flag ****

Continued:

Defining a Home

Range around

HOME_REF

Homing with

STOPL or STOPR






MAIN MANUAL

Target Reached / Position Comparison

In this section, TARGET_REACHED output pin configuration options are explained, as well as

different ways how to compare different values internally.

TARGET_REACHED output pin forwards the TARGET_REACHED_Flag. As soon as

XACTUAL equals XTARGET, TARGET_REACHED is active. Per default, the

TARGET_REACHED pin is high active.

To change the TARGET_REACHED output polarity, do the following:

Action:

Set invert_pol_target_reached = 1 (bit16 of the GENERAL_CONF register 0x00).

Result:

TARGET_REACHED pin is low active.

TARGET_REACHED pins can also be configured for a shared signal line in the same

way as several INTR pins can configured for one interrupt signal transfer (see section

5.4. (page 27).

To use a Wired-Or or Wired-And behavior, the below described order of action

must be executed:

Action:

Step 1: Set intr_tr_pu_pd_en = 1 (GENERAL_CONF register 0x00).

OPTION 1: WIRED-OR

Action:

Step 2: Set tr_as_wired_and = 0 (GENERAL_CONF register 0x00).

Result:

The TARGET_REACHED pin works efficiently as Wired-Or (default configuration).

i In case TARGET_REACHED pin is inactive, the pin drive has a weak inactive

polarity output. During active state, the output is driven strongly. Consequently,

if one of the connected pins is activated, the whole line is set to active polarity.

OPTION 2: WIRED-AND

Action:

Step 2: Set tr_as_wired_and = 1 (GENERAL_CONF register 0x00).

Result:

As long as the target position is not reached, the TARGET_REACHED pin has a strong

inactive polarity output. During active state, the pin drive has a weak active polarity

output. Consequently, the whole signal line is activated if all connected pins are

forwarding the active polarity.

Target Reached

Output Pin

Connecting

several

Target-reached

Pins






MAIN MANUAL

Position Comparison of Internal Values

TMC4361 provides several ways of comparing internal values. The position comparison process is

permanently active and associated with one flag and one event.

How to compare the internal position with an arbitrary value:

Action:

Select a comparison value in the POS_COMP register 0x32.

Select pos_comp_source = 0 (REFERENCE_CONF register 0x01).

Result:

XACTUAL is compared with POS_COMP. When POS_COMP equals XACTUAL the

POS_COMP_REACHED_Flag becomes set and the POS_COMP_REACHED event becomes

released.

How to compare the external position with an arbitrary value:

Action:

Select a comparison value in the POS_COMP register 0x32.

Select pos_comp_source = 1 (REFERENCE _CONF register 0x01).

Result:

ENC_POS is compared with POS_COMP. When POS_COMP equals ENC_POS the

POS_COMP_REACHED_Flag becomes set and the POS_COMP_REACHED event becomes

released.

NOTE:

Because ENC_POS represents microsteps and not encoder steps, POS_COMP

represents also microsteps for the comparison process with external positions.

In case ENC_POS moves past POS_COMP without assuming the same value as

POS_COMP, the POS_COMP_REACHED event is not flagged but is nonetheless listed in

the EVENTS register in order to indicate that it has traversed.

A positive comparison result can be forwarded through the INTR pin using the

POS_COMP_REACHED event as interrupt source.

It is also possible to use the TARGET_REACHED output in order to report the position

comparison state (POS_COMP_REACHED_Flag) instead of the target reached status.

In order to select the TARGET_REACHED output as POS_COMP_REACHED_Flag

source, do as follows:

Action:

Set pos_comp_output = b’11 (REFERENCE _CONF register 0x01).

Result:

TARGET_REACHED output forwards the POS_COMP_REACHED_F status flag.


Basic

Comparison

Settings

Select External

Position as

Comparison

Base

Select Position

Compare Flag as

TARGET_REACHED

Output






MAIN MANUAL

In addition to comparing XACTUAL / ENC_POS with POS_COMP, it is also possible to

conduct a comparison of one of both parameters with X_HOME or X_LATCH resp.

ENC_LATCH. TMC4361 also allows comparison of the revolution counter REV_CNT

against POS_COMP.

Only the selected combination generates the POS_COMP_REACHED_Flag and the

corresponding event.

Therefore, select modified_pos_compare in the REFERENCE_CONF register 0x01

as outlined in the table below:

Comparison

selection grid

SETTINGS

ALERT !

Comparison Selection Grid

pos_comp_source

modified_pos_compare ‘0’ ‘1’

‘00’ XACTUAL vs. POS_COMP ENC_POS vs. POS_COMP

‘01’ XACTUAL vs. X_HOME ENC_POS vs. X_HOME

‘10’ XACTUAL vs. X_LATCH ENC_POS vs. ENC_LATCH

‘11’ REV_CNT vs. POS_COMP

Table 26: Comparison Selection Grid to generate POS_COMP_REACHED_Flag






MAIN MANUAL

Repetitive and Circular Motion

TMC4361 also provides options for auto-repetitive or auto-circular motion. In this section

configuration options are explained.

Per default, reaching XTARGET in positioning mode finishes a positioning ramp.

In order to continuously repeat the specified ramp, do as follows:

PRECONDITION:

Set RAMPMODE(2) = 1 (positioning mode is active).

Set up a velocity ramp according to your requirements.

Action:

Set clr_pos_at_target =1 (REFERENCE_CONF register 0x01).

Result:

After XTARGET is reached (TARGET_REACHED_Flag is active), XACTUAL is set to 0. As long

as XTARGET is NOT 0, the ramp restarts in order to reach XTARGET again. This leads

to repetitious positioning ramps from 0 towards XTARGET.

NOTE:

It is possible to change XTARGET during repetitive motion. The reset of XACTUAL to 0

is always executed when XACTUAL equals XTARGET.

If circular motion profiles are necessary for your application, TMC4361 offers a

position limitation range of XACTUAL with an automatic overflow processing. As soon

as XACTUAL reaches one of the two position range limits (positive / negative), the

value of XACTUAL is set automatically to the value of the opposite range limit.

In order to activate circular motion, do as follows:

PRECONDITION:

If you want to activate circular motion, XACTUAL must be located within the defined

range.

PROCEED WITH:

Action:

Set X_RANGE ≠ 0 (register 0x36, only writing access!).

Set circular_motion = 1 (REFERENCE_CONF register 0x01).

Result:

The positioning range of XACTUAL is limited to: −X_RANGE ≤ XACTUAL < X_RANGE.

When XACTUAL reaches the most positive position (X_RANGE – 1) and the motion

proceeds in positive direction; the next XACTUAL value is set to −X_RANGE. The same

applies to proceeding in negative direction; where (X_RANGE −1) is the position after

−X_RANGE.

i During positioning mode, the motion direction will be dependent on the

shortest path to the target position XTARGET. For example, if XACTUAL = 200,

X_RANGE = 300 and XTARGET = −200, the positioning ramp will find its way across

the overflow position (299 à −300) (see Figure A) in Table 27 (page 67).

Repetitive

Motion to

XTARGET

Activating

Circular Motion






MAIN MANUAL

Due to definition of the limitation range, one revolution only consists of an even

number of microsteps. TMC4361 provides an option to overcome this limitation.

Some applications demand different requirements because a revolution

consists of an uneven or noninteger number of microsteps.

TMC4361 allows a high adjustment range of microsteps by using:

CIRCULAR_DEC register 0x7C.

This value represents one digit and 31 decimal places as extension for the

number of microsteps per one revolution.

A revolution is completed at overflow position. With every completed

revolution the CIRCULAR_DEC value is added to an internal accumulation

register. In case this register has an overflow, XACTUAL remains at its overflow

position for one step.

On average, this leads to the following microsteps per revolution:

Microsteps/rev = (2 · X_RANGE) + CIRCULAR_DEC / 231.

One revolution consists of 601 microsteps.

A definition of X_RANGE = 300 will only provide:

600 microsteps per revolution (−300 ≤ XACTUAL ≤ 299).

Whereas X_RANGE = 301 will result in:

602 microsteps per revolution (−301 ≤ XACTUAL ≤ 300).

By setting:

CIRCULAR_DEC = 0x80000000 (= 231 / 231 = 1).

An overflow is generated at the decimals accumulation register with every

revolution. Therefore, XACTUAL prolongs the step at the overflow position for one

step every time position overflow is overstepped. This results in a microstep count

of 601 per revolution.

One revolution consists of 600.5 microsteps.

By setting:

CIRCULAR_DEC = 0x40000000 (= 230 / 231 = 0.5).

Every second revolution an overflow is produced at the decimals’ accumulation

register. This leads to a microstep count of 600 every second revolution and 601 for

the other half of the revolutions. On average, this leads to 600.5 microsteps per

revolution.

One revolution consists of 601.25 microsteps.

By setting:

CIRCULAR_DEC = 0xA0000000 (= (231 + 229) / 231 = 1.25).

With every revolution an overflow is produced at the decimals’ accumulation

register. Furthermore, at every fourth revolution an additional overflow occurs,

which leads to another prolonged step. This leads to a microstep count of 601 for

three of four revolutions and 602 for every fourth revolution. On average, this results

in 601.25 microsteps per revolution.

Uneven or

Noninteger

Microsteps per

Revolution

Example 1:

Uneven Number

of Microsteps

per Revolution

Example 2:

Noninteger

Number of

Microsteps per

Revolution

Example 3:

Noninteger and

uneven Number

of Microsteps

per Revolution






MAIN MANUAL

By overstepping the position overflow, the internal REV_CNT register is increased by

one revolution as soon as XACTUAL oversteps from (X_RANGE –1) to −X_RANGE or is

decreased by one revolution as soon as XACTUAL oversteps in the opposite direction.

The information about the number of revolutions can be obtained by reading out

register 0x36, which by default is the X_LATCH register (read only).

In order to gain information on the number of revolutions:

Action:

Set circular_cnt_as_xlatch = 1 (GENERAL_CONF register 0x00).

Result:

Register 0x36 cease to display the X_LATCH value. Instead, the revolution counter

REV_CNT can be read out at this register address.

NOTE:

As soon as circular motion is inactive (circular_motion = 0), REV_CNT is reset to 0.

Blocking Zones

During circular motion, virtual stops can be used to set blocking zones. Positions

inside these blocking zones are NOT dedicated for motion.

In order to activate the blocking zone, do as follows:

PRECONDITION:

Circular motion is activated (circular_motion = 0) and properly assigned

(X_RANGE ≠ 0).

PROCEED WITH:

Action:

Set VIRTUAL_STOP_LEFT register 0x33 as left limit for the blocking zone.

Set VIRTUAL_STOP_RIGHT register 0x34 as right limit for the blocking zone.

Enable both virtual limits as explained in section 8.2.1 (page 56).

Result:

The blocking zone reaches from VIRTUAL_STOP_LEFT to VIRTUAL_STOP_RIGHT. During

positioning, the path from XACTUAL to XTARGET does not lead through the blocking

zone; which can result in a longer path compared to the direct path through the

blocking zone (see Figure B1 in Table 27 (page 67).

However, the selected virtual stop deceleration ramp is initiated as soon as one of

the limits is reached. This can result from the velocity mode or if the target XTARGET

is located in the blocking zone.

Continued on next page!

Release of the

Revolution

Counter

Activating

Blocking Zones

during Circular

Motion






MAIN MANUAL

The following positions are located within the blocking zone:

XACTUAL ≤ VIRT_STOP_LEFT

AND / OR

XACTUAL ≥ VIRT_STOP_RIGHT

NOTE:

In case VIRTUAL_STOP_LEFT < VIRTUAL_STOP_RIGHT, one of these conditions must

be met in order to be located inside the blocking zone.

In case VIRTUAL_STOP_LEFT > VIRTUAL_STOP_RIGHT, both conditions must be met

in order to be located inside the blocking zone.

The table below shows circular motion (X_RANGE = 300). The green arrow depicts the

path which is chosen for positioning.

The shortest path selection is shown in Figure A and the consideration of blocking

zones are shown in Figures B1 and B2.

Circular Motion with (B1, B2) and Without (A) Blocking Zone

A B1 B2

Table 27: Circular motion (X_RANGE = 300)

When XACTUAL is located inside the blocking zone, it is possible to move out without

redefining the blocking zone.

In order to get out of the blocking zone, do the following:

Action:

Activate positioning mode: RAMPMODE(2) = 1.

Configure velocity ramp according to your needs.

Clear virtual stop events by reading out EVENTS register 0x0E.

Set regular target position XTARGET outside of the blocking zone.

Result:

TMC4361 initiates a ramp with the shortest way to the target XTARGET.

i In order to match an incremental encoder in the same manner, select

circular_enc_en =1 (REFERENCE_CONF register 0x01).

0

299-300

200-200

Long path

Short path

0

299-300

200-200

Long path (but free)

Short path (but blocked)

VST

OPL

=-29

0

VSTOPR=220

0

299-300

200-200

Long path (and blocked)

Short path

VSTOPL=140

VSTO

PR=7

0

Blocking Zone

Definition

Circular Motion

with and without

Blocking Zone

Moving out of

the Blocking

Zone






MAIN MANUAL

9. Ramp Timing and Synchronization

TMC4361 provides various options to initiate a new ramp. By default, every external register

change is assigned immediately to the internal registers via an SPI input. With a proper start

configuration, ramp sequences can be programmed without any intervention in between.

Three levels of ramp start complexity are available. Predefined ramp starts are

available, which are independent of SPI data transfer that are explained in the

subsequent section 9.1. (page 69).

Two optional features can be configured that can either be used individually

or combined, which are as follows:

A complete shadow motion register set can be loaded into the actual motion

registers in order to start the next ramp with an altered motion profile.

Different target positions can be predefined, which are then activated successively.

This pipeline can be configured as cyclic; and/or it can also be utilized to sequence

different parameters.

Also, another start state “busy” can be assigned in order to synchronize several

motion controllers for one single start event without a master.

Synchronization

Opportunities

Shadow Register

Set

Target Position

Pipeline

Masterless

synchronization

Dedicated Ramp Timing Pins


START Input and Output External start input to get a start signal or external start

output to indicate an internal start event.

Table 28: Dedicated Ramp Timing Pins

Dedicated Ramp Timing Registers


START_CONF 0x02 RW The configuration register of the synchronization unit.

START_OUT_ADD 0x11 RW Additional active output length of external start signal.

START_DELAY 0x13 RW Delay time between start triggers and start signal.

X_PIPE0… 7 0x38…0x3F RW Target positions pipeline and/or parameter pipeline.

Table 29: Dedicated Ramp Timing Registers






MAIN MANUAL

Basic Synchronization Settings

Usually, a ramp can be initiated internally or externally. Note that a start trigger is not the start

signal itself but the transition slope to the active start state. After a defined delay, the internal

start signal is generated.

For ramp start configuration, consider the following steps:

Action:

Choose internal or external start trigger(s).

Set the triggers according to the table below.

i All triggers can be used separately or in combination.

Start Trigger Configuration Table

trigger_events =

START_CONF(8:5) Result

b’0000 No start signal will be generated or processed further.

b’xxx0 Set trigger_events(0) = 0 for internal start triggers only. The internally generated

start signal is forwarded to the START pin that is assigned as output.

b’xxx1

Set trigger_events(0) = 1 for an external start trigger. The START pin is assigned as

input.

For START input take filter settings into consideration. See chapter 4, page 20.

b’xx1x TARGET_REACHED event is assigned as start signal trigger for the ramp timer.

b’x1xx VELOCITY_REACHED event is assigned as start signal trigger for the ramp timer.

b’1xxx POSCOMP_REACHED event is assigned as start signal trigger for the ramp timer.

Table 30: Start Trigger Configuration

Per default, every SPI datagram is processed immediately. By selecting one of the

following enable switches, the assignment of SPI requests to registers XTARGET,

VMAX, RAMP_MODE, and GEAR_RATIO is uncoupled from the SPI transfer. The value

assignment is only processed after an internally generated start signal.

In order to influence the impact of the start signal on internal parameter

assignments, do the following:

Action:

Choose between the following options as shown in the table below.

Start Enable Switch Configuration Table

(All switches can be used separately or in combination.)

start_en

=START_CONF(4:0) Result

b’xxxx1 XTARGET is altered only after an internally generated start signal.

b’xxx1x VMAX is altered only after an internally generated start signal.

b’xx1xx RAMPMODE is altered only after an internally generated start signal.

b’x1xxx GEAR_RATIO is altered only after an internally generated start signal.

b’1xxxx Shadow register is assigned as active ramp parameters after an internally

generated start signal. This is explained in more detail in section 9.2. (page 74).

Table 31: Start Enable Switch Configuration

Start Signal

Trigger Selection

User-specified

Impact

Configuration of

Timing

Procedure






MAIN MANUAL

Per default, the trigger is closely followed by the internal start signal.

In order to delay the generation of the internal start signal, do the following:

Action:

Set START_DELAY register 0x13 according to your specification.

Result:

When a start trigger is recognized, the internal start signal is generated after

START_DELAY clock cycles.

Per default, an external trigger is also delayed for the internal start signal generation.

In order to immediately prompt an external start, trigger to an internally

generated start signal (regardless of a defined delay), do the following:

Action:

Set immediate_start_in = 1 (START_CONF register 0x02).

Result:

When an external start trigger is recognized, the internal start signal is generated

immediately, even if the internal start triggers have already initiated a timing process

with an active delay.

The START pin can be used either as input or as output pin. However, the active

voltage level polarity of the START pin can be selected with one configuration switch

in the START_CONF register 0x02.

Per default, the voltage level transition from high to low triggers a start signal (START

is an input), or START output indicates an active START event by switching from high

to low level.

In order to invert active START polarity, do as follows:

Action:

Set pol_start_signal = 1 (START_CONF register 0x02).

Result:

The START pin is high active. The voltage level transition from low to high triggers a

start signal (START is an input), or START output indicates an active START event by

switching from low to high level.

Per default, the active output voltage level of the START pin lasts one clock cycle.

In order to extend this time span, do the following:

Condition:

START pin is assigned as output: trigger_events(0) = 1.

Action:

Set START_OUT_ADD register 0x11 according to your specification.

Result:

The active voltage level lasts (START_OUT_ADD + 1) clock cycles.

Delay Definition

between Trigger

and internally

generated Start

Signal

Prioritizing

External Input

START Pin

Polarity

Active START Pin

Output

Configuration






MAIN MANUAL

The following three examples depict SPI datagrams, internal and external signal

levels, corresponding velocity ramps, and additional explanations. SPI data is

transferred internally at the end of each datagram.

In this example, the velocity value change is executed immediately.

The new XTARGET value is assigned after TARGET_REACHED has been set and

START_DELAY has elapsed.

A new ramp does not start at the end of the second ramp because no new

XTARGET value is assigned.

START is an output.

Internal start signal forwards with a step length of (START_OUT_ADD + 1) clock

cycles.

This is how external devices can be synchronized:

Parameter Settings Timing Example 1

Parameter Setting

RAMPMODE b’101

start_en b’00001

trigger_events b’0010

START_DELAY >0

START_OUT_ADD >0

pol_start_signal 1

Table 32: Parameter Settings Timing Example 1

Figure 31: Ramp Timing Example 1

SPIXTARGET

=2000

VMAX

=2000

v(t)

2000

1000

TARGET_REACHED

VMAX_REACHED

internal start signal

START

internal start timer

t

START_DELAY START_DELAY

START_OUT_ADD START_OUT_ADD

trigger event trigger event

XACTUAL=1800 XACTUAL=2000

Ramp Timing

Examples

Ramp Timing

Example 1

Process

Description






MAIN MANUAL

In this example, the velocity value and the ramp mode value change is executed

after the first start signal.

The new ramp mode becomes positioning mode with S-shaped ramps.

The ramp then stops at target position XTARGET because of the ramp mode

change.

A further XTARGET change starts the ramp again.

The ramp is initiated as soon as the start delay is completed, which was

triggered by the first TARGET_REACHED event.

The active START output signal lasts only one clock cycle.


Parameter Setting

RAMPMODE b’001 à b’110

start_en b’00111


START_DELAY >0

START_OUT_ADD 0

pol_start_signal 0



SPI

v(t)

2000

1000

TARGET_REACHED

VMAX_REACHED


START


t

START_DELAY

trigger event

RAMPMODE

=110

VMAX

=1000

XTARGET

=2000

XTARGET

=2000

trigger eventtrigger event

VMAX

=2250

START_DELAY

XACTUAL=2000

Ramp Timing

Example 2

Process

Description






MAIN MANUAL

In this example external start signal triggers are prioritized by making use of

START_DELAY > 0 and simultaneously setting immediate_start_in to 1.

When XACTUAL equals POSCOMP the start timer is activated and the external

start signal in between is ignored.

The second start event is triggered by an external start signal. The

POSCOMP_REACHED event is ignored.

The third start timer process is disrupted by the external START signal, which

is forced to be executed immediately due to the setting of:

immediate_start_in = 1.


Parameter Setting

RAMPMODE b’000

start_en b’00010


immediate_start_in 0 à 1

START_DELAY >0

pol_start_signal 1



SPI

VMAX

= -1000

v(t)

1000

POSCOMP_REACHED


START


t

START_DELAY

trigger event

XACTUAL=POSCOMP

-1000

VMAX

=1000

START_DELAY

trigger event

VMAX

=250VMAX

= -250

immediate_start_in

=1

ignored trigger event due

to ongoing start timertrigger event

trigger event

XACTUAL=POSCOMP

ignored trigger event due

to ongoing start timer

Ramp Timing

Example 3

Process

Description






MAIN MANUAL

Shadow Register Settings

Some applications require a complete new ramp parameter set for a specific ramp situation / point

in time. TMC4361 provides up to 14 shadow registers, which are loaded into the corresponding

ramp parameter registers after an internal start signal is generated.

In order to enable shadow registers, do as follows:

Action

Set start_en(4) = 1 and select one or more trigger_events (START_CONF register

0x02), see section 9.1.2 (page 69).

Result:

With every successive internal start signal the shadow registers are loaded into the

corresponding active ramp register.

It is also possible to write back the current motion profile into the shadow motion

registers to swap ramp motion profiles continually.

In order to enable cyclic shadow registers, do as follows:

Action

Set start_en(4) = 1 and select one or more trigger_events

(START_CONF register 0x02) , see section 9.1.2 (page 69).

Set cyclic_shadow_regs = 1 (START_CONF register 0x02).

Result:

With every successive internal start signal the shadow registers are loaded into the

corresponding active ramp register, whereas the active motion profile is loaded into

the shadow registers.


Enabling Shadow

Registers

Enabling Cyclic

Shadow

Registers






MAIN MANUAL

Four different optional shadow register assignments are available to match the

shadow register set according to your selected ramp type. The available options are

described on the next pages.

i Please note that the only difference between the configuration of shadow

option 3 and 4 is that VSTART is exchanged by VSTOP for the transfer of the

shadow registers.

If the whole ramp register is needed to set in a single level stack, do as follows:

Action:

Set shadow_option = b’00 (START_CONF register 0x02).


0x02)

Action:

Default configuration: Set cyclic_shadow_regs = 0 (START_CONF register 0x02)

Optional configuration: Set cyclic_shadow_regs = 1 (START_CONF register 0x02)

Result:

Every relevant motion parameter is altered at the next internal start signal by the

corresponding shadow register parameter. In case cyclic shadow registers are used,

the shadow register set is altered by the current motion profile set.

Figure 34: Single-level Shadow Register Option to replace complete Ramp Motion Profile.

i Green arrows show default settings

i Blue arrows show optional settings.


Shadow Register

Configuration

Options

Option 1:

Shadow Default

Configuration

20 RAMPMODE

24 VMAX

25 VSTART

26 VSTOP

27 VBREAK

28 AMAX

29 DMAX

2A ASTART

2B DFINAL

2D BOW1

2E BOW2

2F BOW3

30 BOW4

4C SH_REG12

40 SH_REG0

46 SH_REG6

47 SH_REG7

45 SH_REG5

41 SH_REG1

42 SH_REG2

43 SH_REG3

44 SH_REG4

48 SH_REG8

49 SH_REG9

4A SH_REG10

4B SH_REG11

xx XXXX

Register address Register name

cyclic_shadow_reg=0

Caption

cyclic_shadow_reg=1

20 RAMPMODE

24 VMAX

25 VSTART

26 VSTOP

27 VBREAK

28 AMAX

29 DMAX

2A ASTART

2B DFINAL

2D BOW1

2E BOW2

2F BOW3

30 BOW4

4C

40

46

47

45

41

42

43

44

48

49

4A

4B

SH_REG12

SH_REG0

SH_REG6

SH_REG7

SH_REG5

SH_REG1

SH_REG2

SH_REG3

SH_REG4

SH_REG8

SH_REG9

SH_REG10

SH_REG11






MAIN MANUAL

In case S-shaped ramps are configured, a double-stage shadow register set can be

used. Seven relevant motion parameters for S-shaped ramps are affected when the

shadow registers become active.

In order to use a double-stage shadow register pipeline for S-shaped ramps, do

as follows:

Action:



0x02).

Action:

Default configuration: Set cyclic_shadow_regs = 0 (START_CONF register 0x02).

Optional configuration: Set cyclic_shadow_regs =1 (START_CONF register 0x02)

Result:

Seven motion parameters (VMAX, AMAX, DMAX, BOW1...4) are altered at the next

internal start signal by the corresponding shadow register parameters (SH_REG0...6).

Simultaneously, these shadow registers are exchanged with the parameters of the

second shadow stage (SH_REG7…13).

In case cyclic shadow registers are used, the second shadow register set

(SH_REG7…13) is altered by the current motion profile set, e.g. 0x28 (AMAX) is written

back to 0x48 (SH_REG8).

The other ramp registers remain unaltered.

Figure 35: Double-stage Shadow Register Option 1, suitable for S-shaped Ramps.

i Green arrows show default settings



Option 2:

Double-stage

Shadow Register

Set for S-shaped

Ramps

40

46

45

41

42

43

44

xx XXXX


start_en(4)=1

Caption

cyclic_shadow_reg=1

SH_REG0

SH_REG6

SH_REG5

SH_REG1

SH_REG2

SH_REG3

SH_REG4

20 RAMPMODE

24 VMAX

25 VSTART

26 VSTOP

27 VBREAK

28 AMAX

29 DMAX

2A ASTART

2B DFINAL

2D BOW1

2E BOW2

2F BOW3

30 BOW4

47

48

49

4A

4B

SH_REG12

SH_REG7

SH_REG8

SH_REG9

SH_REG10

SH_REG11

4C

SH_REG134D






MAIN MANUAL

In case trapezoidal ramps are configured, a double-stage shadow register set can be

used. Seven relevant motion parameters for trapezoidal ramps are affected when

the shadow registers become active.

In order to use a double-stage shadow register pipeline for trapezoidal ramps,

do as follows:

Action:



0x02)

Action:


Optional configuration: Set cyclic_shadow_regs = 1 (START_CONF register 0x02).

Result:

Seven motion parameters (VMAX, AMAX, DMAX, ASTART, DFINAL, VBREAK, and VSTART)

are altered at the next internal start signal by the corresponding shadow register

parameters (SH_REG0...6). Simultaneously, these shadow registers are exchanged

with the parameters of the second shadow stage (SH_REG7…13).

If cyclic shadow registers are used, the second shadow register set (SH_REG7…13) is

altered by the current motion profile set, e.g. 0x27 (VBREAK) is written back to 0x4C

(SH_REG12). The other ramp registers remain unaltered.

Figure 36: Double-stage Shadow Register Option 2, suitable for Trapezoidal Ramps.

i Green arrows show default settings.



40

46

45

41

42

43

44

xx XXXX


start_en(4)=1

Caption

cyclic_shadow_reg=1

SH_REG0

SH_REG6

SH_REG5

SH_REG1

SH_REG2

SH_REG3

SH_REG4

20 RAMPMODE

24 VMAX

25 VSTART

26 VSTOP

27 VBREAK

28 AMAX

29 DMAX

2A ASTART

2B DFINAL

2D BOW1

2E BOW2

2F BOW3

30 BOW4

47

48

49

4A

4B

SH_REG12

SH_REG7

SH_REG8

SH_REG9

SH_REG10

SH_REG11

4C

SH_REG134D

Shadow Option3

Double-stage

Shadow Register

Set for

Trapezoidal

Ramps (VSTART)






MAIN MANUAL

In case trapezoidal ramps are configured, a double-stage shadow register set can be

used. Seven relevant motion parameters for trapezoidal ramps are affected when

the shadow registers become active.

In order to use a double-stage shadow register pipeline for trapezoidal ramps,

do as follows:

Action:



0x02)

Action:


Optional configuration: Set cyclic_shadow_regs = 1 (START_CONF register 0x02)

Result:

Seven motion parameters (VMAX, AMAX, DMAX, ASTART, DFINAL, VBREAK, and VSTOP)

are altered at the next internal start signal by the corresponding shadow register

parameters (SH_REG0...6). Simultaneously, these shadow registers are exchanged

with the parameters of the second shadow stage (SH_REG7…13).

If cyclic shadow registers are used, the second shadow register set (SH_REG7…13) is

altered by the current motion profile set, e.g. 0x26 (VSTOP) is written back to 0x4D

(SH_REG13). The other ramp registers remain unaltered.

Figure 37: Double-Stage Shadow Register Option 3, suitable for Trapezoidal Ramps

i Green arrows show default settings.

i Blue Arrows show optional settings.

Turn page to see Areas of Special Concern pertaining to this section.

Shadow Option4:

Double-stage

Shadow Register

Set for

Trapezoidal

Ramps (VSTOP)

40

46

45

41

42

43

44

xx XXXX


start_en(4)=1

Caption

cyclic_shadow_reg=1

SH_REG0

SH_REG6

SH_REG5

SH_REG1

SH_REG2

SH_REG3

SH_REG4

20 RAMPMODE

24 VMAX

25 VSTART

26 VSTOP

27 VBREAK

28 AMAX

29 DMAX

2A ASTART

2B DFINAL

2D BOW1

2E BOW2

2F BOW3

30 BOW4

47

48

49

4A

4B

SH_REG12

SH_REG7

SH_REG8

SH_REG9

SH_REG10

SH_REG11

4C

SH_REG134D






MAIN MANUAL

The values of ramp parameters, which are not selected by one of the four

shadow options stay as originally configured, until the register is changed

through an SPI write request.

Also, the last stage of the shadow register pipeline retains the values until they

are overwritten by an SPI write request if no cyclic shadow registers are

selected.

Up to 15 internal start signals can be skipped before the shadow register transfer is

executed.

In order to skip a defined number of internal start signals for the shadow

transfer, do as follows:

Action:

Set shadow_option according to your specification.


0x02)

OPTIONAL CONFIGURATION: Set cyclic_shadow_regs = 1.

Set SHADOW_MISS_CNT ≠ 0 (START_CONF register 0x02) according to the number

of consecutive internal start signals that you specify to be ignored.

Result:

The shadow register transfer is not executed with every internal start signal. Instead,

the specified number of start signals is ignored until the shadow transfer is executed

through the (SHADOW_MISS_CNT+1)th start signal.

The following figure shows an example of how to make use of SHADOW_MISS_CNT, in

which the shadow register transfer is illustrated by an internal signal

sh_reg_transfer. The signal miss counter CURRENT_MISS_CNT can be read out at

register address START_CONF (23:20):

Figure 38: SHADOW_MISS_CNT Parameter for several internal Start Signals


SPIshadow_miss_cnt

= 0


shadow_miss_cnt

= 5

shadow_miss_cnt

= 2

1 2 3 4 5 0 1 2 0 1 2 0 10current_miss_cnt

sh_reg_transfer

! AREAS OF

SPECIAL

CONCERN

Delayed Shadow

Transfer






MAIN MANUAL

Internal calculations to transfer the requested shadow BOW values into

internal structures require at most (320 / fCLK) [sec]. before any shadow

register transfer is prompted, it is necessary to wait for the completion of all

internal calculations for the shadow bow parameters.

In order to make this better understood the following example is provided for

a double-stage shadow pipeline for S-shaped ramps:

PRECONDITION:

Shadow register transfer is activated (start_en(1) = 1 and one or more trigger_events

are selected) for S-shaped ramps (shadow_option = b’01)

Action

Set SH_REG0, SH_REG1, SH_REG2 (shadow register for VMAX, AMAX, DMAX).

Set SH_REG3, SH_REG4, SH_REG5, SH_REG6 (shadow register for BOW1…4).

Ensure that no shadow register transfer occurs during the next 320 / fCLK [s].

Result:

Shadow register transfer can be initiated after this time span.

It is strongly recommended that the values of the shadow ramp parameters

are only transferred during standstill of the current ramp (VACTUAL = 0);

especially if the RAMP_MODE is changed.

In case the transfer is prompted during motion, VACTUAL must be constant for all

ramp types. If S-Shaped ramps are selected, please ensure that VACTUAL is

configured to remain constant for a definite delay tSHADOW_TRANSFER before you assign

any new VMAX or XTARGET values, because a new internal recalculation process is

triggered:

𝑡𝑆𝐻𝐴𝐷𝑂𝑊_𝑇𝑅𝐴𝑁𝑆𝐹𝐸𝑅 = 𝑥 =√max(𝐵𝑂𝑊3[𝑝𝑝𝑠3], 𝐵𝑂𝑊4[𝑝𝑝𝑠3]) · VMAX[pps]

56 · 𝐵𝑂𝑊3[𝑝𝑝𝑠3]

If positioning mode is selected, XTARGET must be set accordingly in order to maintain

a constant VACTUAL value.

It is also required that VMAX and its shadow counterpart must be equal to avoid

alteration of VACTUAL during tSHADOW_TRANSFER.

AREAS OF

SPECIAL

CONCERN

!

AREAS OF

SPECIAL

CONCERN

!






MAIN MANUAL

Pipelining Internal Parameters

TMC4361 provides a target pipeline for sequencing subordinate targets in order to easily arrange

a complex target structure.

The different target values must be assigned to the X_PIPE0…7 register. If the target

pipeline is enabled, a new assignment cycle is initiated as soon as an internal start

signal is generated; moving the values, as described, simultaneously:

PROCESS DESCRIPTION:

A new XTARGET value is assigned that takes over the value of X_PIPE0.

Every X_PIPEn register takes over the value of its successor:

X_PIPEn = X_PIPEn+1.

In order to activate the target pipeline, do as follows:

Action:

Set pipeline_en = b’0001 (START_CONF register 0x02).

Result:

The above mentioned process description is executed with every new internal start

signal prompting.

It is also possible to reassign the value of XTARGET to one (or more) of the pipeline

registers X_PIPE0…7. Thereby, a cyclic target pipeline is created.

In order to enable a cyclic target pipeline, do as follows:

Action:

Set pipeline_en = b’0001 (START_CONF register 0x02).

Set XPIPE_REWRITE_REG in relation to the pipeline register where XTARGET have to

written back (e.g. XPIPE_REWRITE_REG = b’00010000).

Result:

The above mentioned process description is executed with every new internal start

signal prompting, and XTARGET is written back to the selected X_PIPEx register (e.g.

XPIPE_REWRITE_REG = 0x10 à XTARGET is written back to X_PIPE4).

The processes and actions described on the previous page, are depicted in the

following figure. The assignment cycle that is initiated when an internal start signal

occurs is depicted.

Figure 39: Target Pipeline with Configuration Options

37

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

XTARGET

X_PIPE0XPIPE_REWRITE_REG(0) = '1'

XX XXXX

Register

address

Register name

Caption

pipeline_en = b’0001

pipeline_en = b’0001

X_PIPE_REWRITE_REG ≠ 0

XPIPE_REWRITE_REG(1) = '1'







Configuration

and Activation of

Target Pipeline

Configuration of

a cyclic Target

Pipeline






MAIN MANUAL

The TMC4361 pipeline (registers 0x38…0x3F) can be configured so that it splits up

into maximal four segments. These segments can be used to feed the following

internal parameters:

XTARGET register 0x37

POS_COMP register 0x32

GEAR_RATIO register 0x12

GENERAL_CONF 0x00

Consequently, these definite parameter value changes can be of importance

concerning a continuous ramp motion and/or for reduced overhead synchronizing

of several motion controllers.

The POS_COMP value can be used to initiate a start signal generation during motion.

Therefore, it can be useful to pipeline this parameter in order to avoid dependence

on SPI transfer speed.

For instance, if the distance between two POS_COMP values is very close and the

current velocity is high enough that it misses the second value before the

SPI transfer is finished, it is advisable to change POS_COMP immediately after the

start signal.

The same is true for the GEAR_RATIO parameter, which defines the step response on

incoming step impulses. Some applications require very quick gear factor alteration

of the slave controller. Note that when the start signal is prompted directly, an

immediate change can be very useful instead of altering the parameter by an SPI

transfer.

Likewise, it can (but must not) be essential to change general configuration

parameters at a defined point in time. A suitable application is a clearly defined

transfer from a direct external control (sd_in_mode = b’01) to an internal ramp

(sd_in_mode = b’00) or vice versa because in this case the master/slave relationship

is interchanged.

The following pipeline options are available, which can be adjusted accordingly:

Pipeline Activation Options

pipeline_en(3:0) Description

b’xxx1 Pipeline for XTARGET is enabled.

b’xx1x Pipeline for POS_COMP is enabled.

b’x1xx Pipeline for GEAR_RATIO is enabled.

b’1xxx Pipeline for GENERAL_CONF is enabled.

Table 35: Pipeline Activation Options

Using the

Pipeline for

different

internal

Registers






MAIN MANUAL

The pipeline_en parameter offers an open configuration for 16 different

combinations of the pipeline segregation. As a result, the number of pipelines range

from 0 to 4. This also has an impact on the pipeline depth. The possible options are

as follows: eight stages, four stages, three stages and two stages.

In the “Pipeline Mapping” table below, the arrangement and depth of the pipeline is

allocated according to the pipeline setup. The final register destination of pipeline

registers are also depicted in order to illustrate from which pipeline registers

(X_PIPE0…7) the final target registers (XTARGET, POS_COMP, GEAR_RATIO,

GENERAL_CONF) are fed.

For example, if POS_COMP and GEAR_RATIO are chosen as parameters that are to be

fed by the pipeline, two 4-stage pipelines are created. When an internal start signal

is generated, POS_COMP assumes the value of X_PIPE0, whereas X_PIPE4 feeds the

GEAR_RATIO register.

But if POS_COMP, GEAR_RATIO and XTARGET are selected as parameter destinations,

two 3-stage pipelines and one double-stage pipeline are created. When an internal

start signal is generated, XTARGET assumes the value of X_PIPE0, POS_COMP assumes

the value of X_PIPE3, whereas X_PIPE6 feeds the GEAR_RATIO register.

More examples are described in detail on the following pages - explaining some of

the possible configurations and referencing examples - listed in the table below.

Pipeline Mapping

Ex. pipeline_en

(3:0) Arrangement

Final transfer register for…

GENERAL_CONF àpipeline_en(3)

GEAR_RATIO àpipeline_en(2)

POS_COMP àpipeline_en(1)

XTARGET àpipeline_en(0)

- b’0000 No Pipelining - - - -

- b’0001

One 8-stage

pipeline

- - - X_PIPE0

A b’0010 - - X_PIPE0 -

B b’0100 - X_PIPE0 - -

- b’1000 X_PIPE0 - - -

C b’0011

Two 4-stage

pipelines

- - X_PIPE4 X_PIPE0

- b’0101 - X_PIPE4 - X_PIPE0

- b’1001 X_PIPE4 - - X_PIPE0

- b’0110 - X_PIPE4 X_PIPE0 -

- b’1010 X_PIPE4 - X_PIPE0 -

D b’1100 X_PIPE4 X_PIPE0 - -

F b’0111 Two 3-stage

pipelines and

one double-stage

pipeline

- X_PIPE6 X_PIPE3 X_PIPE0

- b’1011 X_PIPE6 - X_PIPE3 X_PIPE0

E b’1101 X_PIPE6 X_PIPE3 - X_PIPE0

- b’1110 X_PIPE6 X_PIPE3 X_PIPE0 -

G/H b’1111 Four double-stage

pipelines X_PIPE6 X_PIPE4 X_PIPE2 X_PIPE0

Table 36: Pipeline Mapping for different Pipeline Configurations

Pipeline Mapping

Overview

Pipeline

Mapping Table






MAIN MANUAL

For all of the above shown configuration examples, it is possible to write back the

current values of the selected registers (XTARGET, POS_COMP, GEAR_RATIO and/or

GENERAL_CONF) to any of the pipeline registers of their assigned pipeline in order to

generate cyclic pipelines.

By selecting proper XPIPE_REWRITE_REG, the value that is written back to the pipeline

register is selected automatically to fit the selected pipeline mapping.

Below, several pipeline mapping examples with the corresponding configuration are

shown.

Example A: Cyclic pipeline for POS_COMP, which has eight pipeline stages.

Example B: Cyclic pipeline for GEAR_RATIO, which has six pipeline stages.

A B

Figure 40: Pipeline Example A Figure 41: Pipeline Example B


32

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

POS_COMP

X_PIPE0

pipline_en=b’0010

XPIPE_REWRITE_REG=b’10000000

12

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

GEAR_RATIO

X_PIPE0

x_pip

e_r

ew

rite

_reg(7

) = b’0

0100000

pipline_en=b’0100


Cyclic Pipelining

Pipeline

Examples

Examples A+B:

Using one

Pipeline






MAIN MANUAL

Example C: Cyclic pipelines for XTARGET and POS_COMP, which have four pipeline

stages each.

Example D: Cyclic pipelines for GEAR_RATIO, which has three pipeline stages and

GENERAL_CONF, which has two pipeline stages.

C D

Figure 42: Pipeline Example C Figure 43: Pipeline Example D

Example E: Cyclic pipelines for XTARGET and GEAR_RATIO, which have three pipeline

stages each and GENERAL_CONF, which has two pipeline stages.

Example F: Two cyclic pipelines for XTARGET and GEAR_RATIO, which have two

pipeline stages each and a noncyclic pipeline for GEAR_RATIO, which has three

pipeline stages.

E F

Figure 44: Pipeline Example E Figure 45: Pipeline Example F


32

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

POS_COMP

X_PIPE0

37 XTARGET

pipline_en=b’0011


10

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

GENERAL_CONF

X_PIPE0

pipline_en=b’1100


12 GEAR_RATIO

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

X_PIPE0

37 XTARGET

pipline_en=b’1101


10 GENERAL_CONF

12 GEAR_RATIO

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

X_PIPE0

37 XTARGET

pipline_en=b’0111


12 GEAR_RATIO

32 POS_COMP

Examples C+D:

Using two

Pipelines

Examples E+F:

Using three

Pipelines






MAIN MANUAL

Example G: Cyclic pipelines for XTARGET, POS_COMP, GEAR_RATIO and GENERAL_CONF,

which have two pipeline stages each.

Example H: Four noncyclic pipelines for XTARGET, POS_COMP, GEAR_RATIO and

GENERAL_CONF, which have two pipeline stages each.

G H

Figure 46: Pipeline Example G Figure 47: Pipeline Example H

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

X_PIPE0

37 XTARGET

pipline_en=b’1111


10 GENERAL_CONF

12 GEAR_RATIO

32 POS_COMP

38

39 X_PIPE1

3A X_PIPE2

3B X_PIPE3

3C X_PIPE4

3D X_PIPE5

3E X_PIPE6

3F X_PIPE7

X_PIPE0

37 XTARGET

pipline_en=b’1111


10 GENERAL_CONF

12 GEAR_RATIO

32 POS_COMP

Examples G+H:

Using four

Pipelines






MAIN MANUAL

Masterless Synchronization of Several Motion Controllers via START Pin

START pin can also be assigned as tristate input in order to synchronize several microcontroller

masterless.

In this case START is assigned as tristate. A busy state is enabled. During this busy

state, START is set as output with a strongly driven inactive polarity. If the internal

start signal is generated – after the internal start timer is expired –START pin is

assigned as input. Additionally, a weak output signal is forwarded at START. During

this phase, the active start polarity is emitted.

In case the signal at START input is set to active polarity, e.g. because all members

of the signal line are ready, START output remains active (strong driving strength) for

START_OUT_ADD clock cycles.

Then, busy state is active again until the next start signal occurs.

In order to activate tristate START pin, do as follows:

Action:

Set busy_en = 1 (START_CONF register 0x02).

Result:

The above mentioned process description is executed.

In case START pin is connected with START pins of other TMC4361 devices, it is

recommend that a series resistor (e.g. 220 Ω) is connected between the devices to

limit the short circuit current flowing that can flow during the configuration phase

when different voltage levels at the START pins of the different devices can occur.

NOTE:

Avoid that short circuits last too long.

Activation of the

Tristate START

Pin

START Pin

Connection






MAIN MANUAL

10. Serial Data Output

TMC4361 provides an SPI interface for initialization and configuration of the motor driver (in

addition to the Step/Dir output) before and during motor motion. It is possible to control TMC

stepper drivers during SPI motor drive.

The SPI interface is used for the following tasks:

TMC4361 integrates an adjustable cover register for configuration purposes in

order to adjust TMC motor driver chips and third parties chips easily.

The integrated microstep Sine Wave Lookup Table MSLUT generates two

current values that represent sine and cosine values.

These two current values can be transferred to a TMC motor driver chip at a

time, in order to energize the motor coils. This occurs within each SPI datagram.

A series of current values is transferred to move the motor. Values of the MSLUT

are adjusted using velocity ramp dependent scale values that align the

maximum amplitude current values to the requirements of certain velocity

slopes.

Pin Names for SPI Motor Drive


NSCSDRV_SDO Output Chip select output to motor driver, low active.

SCKDRV_NSDO Output Serial clock output to motor driver.

SDODRV_SCLK InOut as Output Serial data output to motor driver.

SDIDRV_NSCLK Input Serial data input from motor driver.

STDBY_CLK Output Clock output, standby output, or ChopSync clock output.

Table 37: Pin Names for SPI Motor Drive

Register Names for SPI Output Registers


GENERAL_CONF 0x00 RW Affect switches: Bit14:13, bit19, bit20, bit28.

REFERENCE_CONF 0x01 RW Affect switches: Bit26, bit27, bit30.

SPIOUT_CONF 0x04 RW Configuration register for SPI output communication.

STEP_CONF 0x0A RW Microsteps per fullstep, fullsteps per revolution, and

motor status bit event selection.

DAC_ADDR 0x1D RW

SPI addresses/commands which are put in front of the

DAC values: CoilA: DAC_ADDR(15:0),

CoilB: DAC_ADDR(31:16)

SPI_SWITCH_VEL 0x1F RW

Velocity at which automatic cover datagram are sent.

CHOPSYNC_DIV Chopper clock divider (bit11:0).

FS_VEL 0x60 W Velocity at which fullstep drive are enabled.

COVER_LOW 0x6C W Lower 32 bits of the cover register (µC to motor driver).

COVER_HIGH 0x6D W Upper 32 bits of the cover register (µC to motor driver).

COVER_DRV_LOW 0x6E R Lower 32 bits of the cover response register

(motor driver to µC).

COVER_DRV_HIGH 0x6F R Upper 32 bits of the cover response register

SPI Interface

Configuration






MAIN MANUAL

Register Names for SPI Output Registers


(motor driver to µC).

CURRENT_CONF 0x05 RW Current scaling configuration.

SCALE_VALUES 0x06 RW Current scaling values.

STDBY_DELAY 0x15 RW Delay time after standby mode is valid.

FREEWHEEL_DELAY 0x16 RW Delay time after freewheeling is valid.

VDRV_SCALE_LIMIT 0x17 RW Velocity setting for changing the drive scale value.

UP_SCALE_DELAY 0x18 RW Increment delay to a higher scaling value; 24 bits.

HOLD_SCALE_DELAY 0x19 RW Decrement delay to the hold scaling value; 24 bits.

DRV_SCALE_DELAY 0x1A RW Decrement delay to the drive scaling value.

BOOST_TIME 0x1B RW Delay time after ramp start when boost scaling is valid.

SCALE_PARAM 0x7C R Actual current scaling parameter; 8 bits.

CURRENTA

CURRENTB 0x7A R

Actual current values of the MSLUT:

SIN (coil A) and SIN90_120 (coil B); 9 bits for each.

CURRENTA_SPI

CURRENTB_SPI 0x7B R

Actual scaled current values of the MSLUT:

SIN (coil A) and SIN90_120 (coil B); 9 bits for each.

MSLUT registers 0x70…78 W MSLUT values definitions.

MSCNT 0x79 R Actual microstep position of the MSLUT.

START_SIN

START_SIN90_120

DAC_OFFSET

0x7E RW

Sine start value of the MSLUT (bit 7:0).

Cosine start value of the MSLUT (bit 23:16).

Offset value for DAC output values (bit 31:24).

Table 38: Dedicated SPI Output Registers

Getting Started with TMC Motor Drivers

In this chapter information is provided about how to easily start up a connected TMC motor driver.

In order to start up a connected TMC motor stepper driver, proper setup of

SPIOUT_CONF register 0x04 is important. TMC4361 offers presets for current transfer

and automatic configuration routines if the correct TMC driver is selected. Status

bits of TMC motor drivers are also transmitted to the status register of the motion

controller.

TMC4361 provides a programmable lookup table (LUT) for storing the current wave.

Per default, the tables are preprogrammed with a sine wave, which is a good starting

point for most stepper motors.

Setting up

SPIOUT_CONF

correctly






MAIN MANUAL

Sine Wave Lookup Tables

TMC4361 provides a programmable lookup table (LUT) for storing the current wave.

Reprogramming the table from its predefined values to a motor-specific wave allows improved

motor-reliant microstepping, particularly when using low-cost motors.

TMC4631-LA provides a default configuration of the internal microstep table

MSLUT. In case internal MSLUT is used, proceed with section 10.9. (page 97) in

order to configure a well-defined serial data connection to the stepper motor

driver. The following explanations that are provided in this section only

address engineers who use their own microstep table definition.

The internal microstep wave table maps the microstep wave from 0° to 90° for

256 microsteps. It becomes automatically and symmetrically extended to 360° that

consequently comprises 1024 microsteps. As a result, the microstep counter MSCNT

ranges from 0 to 1023. Only a quarter of the wave is stored because this minimizes

required memory and the amount of programmable data.

Therefore, only 256 bits (ofs00 to ofs255) are required to store the quarter wave.

These bits are mapped to eight 32-bit registers MSLUT[0] (register 0x70) to

MSLUT[7] (register 0x77).

When reading out the table the 10-bit microstep counter MSCNT addresses the fully

extended wave table.

The MSLUT is an incremental table. This means that a certain order and succession

is predefined at every next step based on the value before, using up to four flexible

programmable segments within the quarter wave. The microstep limits of the four

segments are controlled by the position registers X1, X2, and X3.

Within these segments the next value of the MSLUT is calculated by adding the base

wave inclination Wx−1 (if ofs=0) or its successor Wx (if ofs=1). Because four segments

are programmable, four base wave inclinations are available as basic increment

value: 0, 1, 2, or 3. Thereby, even a negative wave inclination can be realized. This is

shown in the next Figure where the values in last quarter segments are decreased

or remain constant with every step towards MSCNT= 255.

Figure 48: LUT Programming Example

SETTINGS

ALERT !

Programming

Sine Wave

Lookup Tables

Sine Wave Table

Structure

MSCNT

y

256

256

248

-248

512 768 00 X1 X3X2

W0: +2

/+3

W1: +1

/+2

W2: +0

/+1

W3: -1

/+0

LUT stores

entries 0 to 255

255

START_SIN

START_SIN90_120






MAIN MANUAL

Actual Current Values Output

When the microstep sequencer advances within the microstep table (MSLUT), it

calculates the actual current values for the motor coils with each microstep, and

stores them to the register 0x7A, which comprises the values of both waves

CURRENTA and CURRENTB. However, the incremental coding requires an absolute

initialization – especially when the microstep table becomes modified. Therefore,

CURRENTA and CURRENTB become re-initialized with the start values whenever

MSCNT passes zero.

As mentioned above, the MSLUT can be adapted to the motor requirements. In

order to understand the nature of incremental coding of the microstep table, the

characteristics of the microstep wave must be understood, as described in the list

below:

Characteristics of a 2-phase motor microstep table:

In principle, it is a reverse characteristic of the motor pole behavior.

It is a polished wave to provide a smooth motor behavior. There are no jumps

within the wave.

The phase shift between both phases is exactly 90°, because this is the optimum

angle of the poles inside the motor.

The zero transition is at 0°. The curve is symmetrical within each quadrant (like

a sine wave).

The slope of the wave is normally positive, but due to torque variations it can

also be (slightly) negative.

But it must not be strictly monotonic as shown in the figure above.

Considering these facts, it becomes clear that the wave table can be compressed.

The incremental coding applied to TMC4361 uses a format that reduces the required

information - per entry of the 8-bit by a 256-entry wave table - to slightly more than a

single bit.

Actual Current

Calculations

Characteristics

of a 2-Phase

Stepper Motor

Microstep Table






MAIN MANUAL

How to Program the Internal MSLUT

The principle of incremental encoding only stores the difference between the

actual and the next table entry. In order to attain an absolute start value, the first

entry is directly stored in START_SIN. Also, for ease-of-use, the first entry of the shifted

table for the second motor phase is stored in START_SIN_90_120.

Based on these start values, every next table entry is calculated by adding an

increment INC to the former value. This increment is the base wave inclination value

Wx whenever its corresponding ofs bit is 1 or Wx –1 if ofs = 0:

INC = Wx + (ofs – 1).

The base wave inclination can be set to four different values (0, 1, 2, 3), because it

consists of two bits.

Because the wave inclination does not change dramatically, TMC4361 provides four

wave inclination segments with the base wave inclinations (W0, W1, W2, and W3)

and the segment borders (0, X1, X2, X3, and 255), as shown in the left quarter of the

MSLUT diagram in Figure 48, page 90.

Wave Inclination Characteristics

Wave Inclination

Segment

Base Wave

Inclination Segment Ranges

0 W0 0 … X1

1 W1 X1… X2

2 W2 X2 … X3

3 W3 X3 … 255

Table 39: Wave Inclination Characteristics of Internal MSLUT

Principle of

Incremental

Encoding






MAIN MANUAL

Setup of MSLUT Segments

All base wave inclination values (each consists of two bits) as well as the border

values (each consists of eight bit) between the segments are adjustable. They are

assigned by MSLUTSEL register 0x78.

In order to change the base wave inclination values and the segment borders,

do as follows:

Action:

Define the segment borders X1, X2, and X3 and the base wave inclination values

W0…W3 according to the requirements

Set register MSLUTSEL(31:24) = X3.



Set register MSLUTSEL(7:6) = W3.




Result:

The segments and the base wave inclination values of the internal MSLUT are

changed.

NOTE:

It is not mandatory to define four segments. For instance, if only two segments are

required, set X2 and X3 to 255. Then, W0 is valid for segment 0 between MSCNT = 0

and MSCNT = X1, and W1 is valid between MSCNT = X1 and MSCNT = 255

(segment 1).

In order to change the ofs bits, do as follows:

Action:

Set MSLUT[0] register 0x70 = ofs31…ofs00.








Result:

The ofs bits of the internal MSLUT are changed.

When modifying the wave:

Special care has to be applied in order to ensure a smooth and symmetrical zero

transition whenever the quarter wave becomes expanded to a full wave.

When adjusting the range:

The maximum resulting swing of the wave should be adjusted to a range of

−248 to 248, in order to achieve the best possible resolution while at the same time

leaving headroom for a hysteresis based chopper to add an offset.

Base Wave

Inclination and

Border Values

! AREAS OF

SPECIAL

CONCERN

Zero Crossing






MAIN MANUAL

Current Waves Start Values

As both waves are shifted by 90° for two-phase stepper motors, the sine wave starts

at 0° when MSCNT = 0. By comparison, the cosine wave begins at 90° when

MSCNT = 256. At this starting points the current values are CURRENTA = 0 for the sine

wave and CURRENTB = 247 for the cosine wave.

In contrast to the starting microstep positions that are fixed, these starting current

values can be redefined if the default start values do not fit for the actual MSLUT.

In order to change the starting current values of the MSLUT, do as follows:

Action:

Define the start values START_SIN and START_SIN90_120 according to the

requirements.

Set register 0x7E (7:0) = START_SIN.

Set register 0x7E (23:16) = START_SIN90_120.

Result:

The starting values for both waves are adapted to MSLUT.

Default MSLUT

The default sine wave table in TMC drivers uses one segment with a base inclination

of 2 and one segment with a base inclination of 1 (see default value of the MSLUTSEL

register 0x78 = 0xFFFF8056).

The segment border X1 is located at MSCNT = 128. The base wave inclinations are

W0 = b’10 (=2) and W1 = b’01 (=1).

As a result, between MSCNT = 0 and 128, the increment value INC is either

1 (if ofs = 0) or 2 (if ofs = 1).

And between MSCNT = 128 and 255, the increment value INC is either

0 (if ofs = 0) or 1 (if ofs = 1).

This reflects the stronger rise in the first segment of the MSLUT in contrast to the

second segment. The maximum value is

START_SIN90_120 = 247.

Starting Current

Values of MSLUT

Configuration

Base Wave

Inclinations






MAIN MANUAL

Explanatory Notes for Base Wave Inclinations

In the following example four segments are defined.

Each segment has a different base wave inclination to illustrate each possible

entry:

Segment 0: W0 = 3 which means that the increment value is +2 or +3.

Segment 1: W0 = 2 which means that the increment value is +1 or +2.

Segment 2: W0 = 1 which means that the increment value is 0 or +1.

Segment 3: W0 = 0 which means that the increment value is −1 or 0.

i In addition to the MSLUT curve (black line), which is defined by the given ofs bits,

all four segments show upper limits (red line); in case all ofs bits in the particular

segments are set to 1.

i The green line shows the lower limit in case all ofs bits in the particular segments

are set to 0.

Figure 49: MSLUT Curve with all possible Base Wave Inclinations (highest Inclination first)

In order to set up a standard sine wave table for the MSLUT, the following

considerations have to be taken into account:

PRECONSIDERATIONS:

The microstep table for the standard sine wave begins with eight entries (0

to 7) {0, 1, 3, 4, 6, 7, 9, 10 …} etc.

The maximum difference between two values in this section is +2, whereas the

minimum difference is +1.

While advancing according to the table, the very first time the difference

between two MSLUT values is lower than +1 is between position 153 and

position 154. Both entries are identical.

The start value is 0 for the sine wave.

The calculated value for position 256 (i.e. start of cosine wave) is 247.


Definition of

Segments 0,1,2,3

Standard Sine

Wave Setup

Considerations

prior to SETUP of

MSLUT

y

256

0

+2/+3

+1/+2

+0/+1

-1/+0

255X1 X2 X3

Segment upper limits

Segment lower limits

0

Segment

inclination W






MAIN MANUAL

In order to set up the standard sine wave table, proceed as follows:

Action:

Set a starting value START_SIN = 0 matching sine wave entry 0.

Set a base wave inclination range of W0 = b’10 = 2 to skip between +1 / +2, valid

from 0 to X1.

Calculate the differences between every entry: {+1, +2, +1, +2, +1, +2, +1,…}.

Set the microstep table entries ofsXX to 0 for the lower value (+1); 1 for the higher

value (+2). Thus, the first seven microstep table entries ofs00 to ofs06 are: {0, 1,

0, 1, 0, 1, 0 …}

The base wave inclination must be lowered at position 153, at very latest. Use the

next base wave inclination range 1 with W1 = b’01 = 1 to skip between +0 and +1.

Set X1 = 153 in order to switch to the next inclination range. From here on, an

offset ofsXX of 0 means add nothing; 1 means add +1.

Set START_SIN90_120 = 247, which is equal to the value at position 256.

Only two of four wave segments with different base wave inclinations are used.

The remaining wave inclination ranges W2 and W3 should be set to the same

value as W1; and X2 and X3 can be set to 255. Thereby, only two wave inclination

segments are effective.

Result:

A standard sine wave is defined as MSLUT. The following table shows an extract of

this curve.

Overview of the Microstep Behavior Example

Microstep

number 0 1 2 3 4 5 6 7 … 153 154 … 255

Desired table

entry 0 1 3 4 6 7 9 10 … 200 200 … 247

Difference to

next entry 1 2 1 2 1 2 1 … … 0 … … 0

Required

segment

inclination

+2 +2 +2 +2 +2 +2 +2 … … +1 … … +1

Ofs bit entry 0 1 0 1 0 1 0 … … 0 … … 0

Table 40: Overview of the Microstep Behavior Example

Standard Sine

Wave Setup






MAIN MANUAL

SPI Output Interface Configuration Parameters

TMC4361 provides an SPI output interface. In the next section, the configuration of the interface

parameters is explained in detail.

In order to enable SPI output communication, do as follows:

Action:

Set serial_enc_out_enable = 0 (bit24 of GENERAL_CONF register 0x00).

Result:

SPI output is enabled.

i SPI out is the default preconfigured setting.

The table below lists the pins that are dedicated to SPI output communication:

SPI Output Communication Pins

Pin Description

NSCSDRV_SDO Low active chip select signal.

SCKDRV_NSDOSPI SPI output clock.

SDODRV_SCLK MOSI – Output pin to transfer the datagram to the

motor driver.

SDIDRV_NSCLK

MISO – Input pin which receives the response from

the motor driver. The response is sampled during the

data transfer to the motor driver.

Table 41: SPI Output Communication Pins

Enabling SPI

Output

Communication

Pins dedicated

to SPI Output

Communication






MAIN MANUAL

Because TMC4361 represents the master of SPI communication to the motor driver

– which is the slave – it is mandatory to set up the timing configuration for the SPI

output. TMC4361 provides an SPI clock, which is generated at the SCKDRV_NSDO

output pin.

In order to configure the timing of the SPI clock, set up SPIOUT_CONF register

0x04 as follows:

Action:

Set the number of internal clock cycles the serial clock should stay low at

SPI_OUT_LOW_TIME = SPIOUT_CONF (23:20).

Set the number of internal clock cycles the serial clock should stay high at

SPI_OUT_HIGH_TIME = SPIOUT_CONF (27:24).

Also, an SPI_OUT_BLOCK_TIME = SPIOUT_CONF(31:28) can be set for a minimum

time period during which no new datagram is sent after the last SPI output

datagram.

Result:

SPI output communication scheme is set. During the inactive phase between to SPI

datagrams - which is at least SPI_OUT_BLOCK_TIME clock cycles long - the

SCKDRV_NSDO and NSCSDRV_SDO pins remain at high output voltage level. The

timing of the SPI output communication is illustrated in the next Figure 50 (page 98).

Figure 50: SPI Output Datagram Timing

The minimum time period for all three parameters is 2/fCLK. If an SPI output

parameter is set to 0, it is altered to 2 clock cycles internally. A maximum time period

of 15/fCLK can be set for all three parameters.

Thus, SPI clock frequency fSPI_CLK covers the following range:

fCLK / 30 ≤ fSPI_CLK ≤ fCLK / 2.

NSCSDRV_SCLK

SCKDRV_NSDO

SDODRV_SCLK

SDIDRV_NSCLK

bitCDL-1 bitCDL-2 bit0

bit39 bit38 bit0

spi_out_low_time / fCLK

spi_out_block_time / fCLK

spi_out_high_time / fCLK

sample points

Setup of SPI

Output Timing

Configuration

Minimum and

Maximum Time

Period






MAIN MANUAL

Basically, SPI output communication serves as automatic current datagram transfer

to the connected motor driver. TMC4361 uses the internal microstep lookup table

(MSLUT) in order to provide actual current motor driver data.

With every step that is initialized by the ramp generator the MSCNT value is

increased or decreased, dependent on ramp direction.

The MSCNT register 0x79 (readable value) contains the current microstep

position of the sine value.

Accordingly, the current values CURRENTA (0x7A) and CURRENTB (0x7B) are

altered.

In case the output configuration of TMC4361 allows for automatic current

transfer an updated current value leads to a new datagram transfer.

Thereby, the motor driver always receives the latest data. The length for current

datagrams can be set automatically and TMC4361 converts new values into the

selected datagram format, usually divided in amplitude and polarity bit for TMC

motor drivers.

By altering the microstep resolution from 256 (MSTEP_PER_FS = b’0000) to a lower

value, an internal step results in more than one MSLUT step.

For instance, if the microstep resolution is set to 64 (MSTEP_PER_FS = b‘0010), MSCNT

is either increased or decreased by 4 per each internal step. Accordingly, the passage

through the MSLUT skips three current values per each internal step to match the

new microstep resolution.

In addition to automatic current datagram transfer, the microcontroller can

communicate directly with the motor driver through TMC4361 by using cover

datagrams. This communication channel can be useful for configuration purposes

because no additional SPI communication channel between microcontroller and

motor driver is necessary.

Up to 64 bits can be assigned for one cover datagram. This 64-bit SPI cover register

is separated into two 32-bit registers - COVER_HIGH register 0x6D and COVER_LOW

register 0x6C. The COVER_HIGH register is only required if more than 32 bits must be

sent once.

How many bits are sent within one cover datagram is defined by the cover datagram

length COVER_DATA_LENGTH .

In order to define the cover datagram length, do as follows:

Action:

Set the number of cover datagram bits at

COVER_DATA_LENGTH = SPIOUT_CONF (19:13).

Result:

The cover datagram length is set to COVER_DATA_LENGTH bits. If this parameter is

set higher than 64, the cover register data length is still maximum 64 bits.

i For TMC motor drivers it is possible to set COVER_DATA_LENGTH = 0. In this case,

the cover data length is selected automatically, dependent on the chosen motor

driver. More details are provided on the subsequent pages.

Current

Diagrams

Process

Description

Change of

Microstep

Resolution

Cover Datagrams

Communication

between µC and

Driver

How to Define

Cover Datagram

Length






MAIN MANUAL

The LSB (last significant bit) of the whole cover datagram register is located at

COVER_LOW(0). As long as COVER_DATA_LENGTH < 33, only COVER_LOW or parts of this

register are required for cover data transfer.

If more than 32 bits are necessary, the complete COVER_LOW and (parts of) the

COVER_HIGH register are required for SPI cover data transfer.

NOTE:

Every SPI communication starts with the most significant bit (MSB).

OPTION 1: COVER_DATA_LENGTH < 33 BITS

In order to send a cover datagram - that is smaller than 33 bits - do as follows:

Action:

Set COVER_LOW (COVER_DATA_LENGTH-1:0) register 0x6C = cover_data.

Result:

After a valid register request to COVER_LOW, SPI output is sent out

COVER_DATA_LENGTH bits of COVER_LOW register.

OPTION 2: COVER_DATA_LENGTH > 32 BITS

In order to send a cover datagram - that consists of more than 32 bits - do as

follows:

Action:

Split cover data into two segments:

cover_data_low = cover_data(31:0).

cover_data_high = cover_data >> 32.

cover_data_high = cover_data(31:0).

Set COVER_HIGH(COVER_DATA_LENGTH −32:0) register 0x6D=cover_data_high.

Set COVER_LOW register 0x6C = cover_data_low.

Result:

After a valid register request to COVER_LOW, SPI output is sent out

COVER_DATA_LENGTH bits that comprises register values of COVER_HIGH and

COVER_LOW.

The cover register and the datagram structure are illustrated in the figure below:

Figure 51: Cover Data Register Composition (CDL – COVER_DATA_LENGTH)


bit63 bit62 bit33 bit32...



COVER_HIGH

COVER_LOW

Cover register bit31 bit30 bit1 bit0...

MSB if CDL=63 MSB if CDL=30

(COVER_HIGH not

required)

Sending Cover

Datagrams

Cover

Datagrams with

32 Bits






MAIN MANUAL

Because the transfer of a cover datagram is usually accompanied by a data transfer

from the motor driver, the response is stored in registers; and is thus available for

the microcontroller. COVER_DRV_HIGH register 0x6F and COVER_DRV_LOW register

0x6E form this cover response register that can also comprise up to 64 bits.

Similar to COVER_LOW and COVER_HIGH, the motor driver response is divided in the

registers COVER_DRV_LOW and COVER_DRV_HIGH. The composition of the response

cover register and also the positioning of the MSB follow the same structure.

At the end of a successful data transmission, the event COVER_DONE becomes set.

This indicates that the cover register data is sent to the motor driver and that the

received response is stored in the COVER_DRV_HIGH register 0x6F and

COVER_DRV_LOW register 0x6E.

In certain setups, it can be useful to automatically send ramp velocity-dependent

cover datagrams, e.g. to change chopper settings during motion.

NOTE:

This feature is only available if the cover datagram length does not exceed

32 bits.

In order to activate ramp velocity-dependent automatic cover data transfer,

do as follows:

Action:

Define the trigger velocity whenever an automatic cover datagram transfer is

initiated.

Set SPI_SWITCH_VEL register 0x1D to this absolute velocity [pps].

Set COVER_LOW register 0x6C to the cover_data, which is valid for lower velocity

values.

Set COVER_HIGH register 0x6D to the cover_data, which is valid for higher

velocity values.

Set automatic_cover = 1 (REFERENCE_CONF register 0x01).

Result:

Whenever the absolute internal ramp velocity |VACTUAL| passes the SPI_SWITCH_VEL

value, the particular cover data is sent to the motor driver,

COVER_LOW is sent in case |VACTUAL| < SPI_SWITCH_VEL,

COVER_HIGH is sent in case |VACTUAL| ≥ SPI_SWITCH_VEL.

Receiving

Responses to

Cover

Datagrams

COVER_DONE

Event

Configuring

Automatic

Generation of

Cover Datagrams






MAIN MANUAL

Overview: TMC Motor Driver Connections

As mentioned before, TMC4361 is able to set the cover register length automatically in case a

TMC motor driver is connected. Also, several additional automatic features for the SPI

communication are available by selecting TMC motor drivers.

TMC Stepper Motor Driver Settings

The SPI and Step/Dir communication schemes are available for the following

product lines that are explained in greater detail further below:

TMC236, TMC239

TMC246, TMC248, TMC249

TMC260, TMC261, TMC262, TMC2660

TMC389

TMC2130

In order to enable an operating SPI output setting for a connected TMC stepper

motor driver, proceed as follows:

Action:

Set SPI_OUT_LOW_TIME, SPI_OUT_HIGH_TIME, and SPI_OUT_BLOCK_TIME according

to the TMC motor driver specification, as explained before.

Set COVER_DATA_LENGTH = 0 (bit19:13 of SPIOUT_CONF register 0x04).

Set spi_output_format = SPI_OUT_CONF (3:0) according to the connected SPI motor

driver as seen below in the table below.

Result:

The communication scheme is now prepared for the connected TMC motor driver

with all available features.

TMC Stepper Motor Driver Options

TMC Motor

Driver

spi_output_format

=SPI_OUT_CONF (3:0)

Cover Register

Datagram Length

COVER_DATA_LENTGH=0

Automatic Current

Datagram

Transfer

Cover Register

Datagram

Transfer

SPI output off b’0000 0 -- --

TMC23x b’1000 12

TMC24x b’1001 12

TMC26x/389 b’1010

b’1011

20

20

S/D output

TMC2130 b’1101

b’1100

40

40

S/D output

Table 42: TMC Stepper Motor Driver Options

Available SPI

and Step/Dir™

Communication

Schemes for

TMC Motors

How to enable

SPI Output

Settings for TMC

Stepper Motor

Drivers






MAIN MANUAL

When a TMC motor driver receives a current datagram or a cover datagram that is

transmitted via SPI output of TMC4361, status data is sent back to the TMC4361

controller immediately. The response is stored in the COVER_DRV_LOW 0x6E and

COVER_DRV_HIGH 0x6F registers, just like all other cover requests.

The type and sequence of the status bits that are sent back are dependent on the

selected motor driver. A detailed list for every motor driver is presented in the next

sections, in which the motor driver communication specifics for every driver family

are explained separately.

The mapping of the available status bits to the TMC4361 STATUS register is similar

for each and every TMC stepper motor driver. The last eight bits – STATUS (31:24) –

are equal to the transferred motor status bits. A detailed overview is given in the

register chapter 17.14. (page 192).

TMC4361 also provides one event at EVENTS (30) that is connected with the motor

driver status bits. Here, any of the motor driver status bits can function as the base

for this event.

In order to activate a motor driver status bit for the motor event EVENTS (30),

do as follows:

Action:

Selected one or more of the motor driver status for the motor event by assigning

MSTATUS_SELECTION = STEP_CONF (23:16) register 0x0A accordingly.

Result:

In case one of the selected motor status bits is activated (Wired-Or), the motor event

switch EVENTS (30) generates an event.

In order to generate an interrupt for this motor event, configure the INTR output

accordingly, as explained in section 5.3. (page 26).

TMC Motor

Driver Response

Datagram and

Status Bits

Events and

Interrupts based

on Motor Driver

Status Bits






MAIN MANUAL

Stall Detection and Stop-on-Stall

TMC stepper motor driver chips with stallGuard and stallGuard2 can detect stall and

overload conditions based on the motor’s back-EMF without the need of a position

sensor. The stall detection status is returned via SPI.

For more information, refer to the AppNote “Parameterization of stallGuard2 &

coolStep” that is available online at www.trinamic.com .

Except for TMC23x and TMC24x, which forward three load detection bits, the motor

stall status is represented by one status bit. TMC4361 is able to stop the internal

ramp as soon as a stall is recognized. Because stall bit activation can occur unwanted

during motion with a low velocity, it is also possible to set up a velocity threshold for

the Stop-on-Stall behavior.

In order to activate a Stop-on-Stall for the internal velocity ramp, do as follows:

Action:

Set VSTALL_LIMIT register 0x67 [pps] according to minimum absolute velocity

value for a correct stall recognition.

Set stop_on_stall = 1 (bit26 of REFERENCE_CONF register 0x01).

Set drive_after_stall = 0 (bit27 of REFERENCE_CONF register 0x01).

Result:

The internal ramp velocity is set immediately to 0 whenever a stall is detected and

the following is true: |VACTUAL| > VSTALL_LIMIT.

Then, the STOP_ON_STALL event is also generated.

i The status bit stallGuard that is directly mapped from the motor stepper driver,

which is listed in STATUS (24). This flag is always activated as soon as the motor

driver generates the stall guard status bit.

i The ACTIVE_STALL status bit = STATUS (11) is activated as soon as a stall is

detected and |VACTUAL| > VSTALL_LIMIT.

In order to activate the internal velocity ramp AFTER a Stop-on-Stall, do as

follows:

Action:

Read out the EVENTS register 0x0E to unlock the event STOP_ON_STALL.


Result:

The internal ramp velocity is no longer blocked by the Stop-on-Stall event.

i In order to activate the Stop-on-Stall behavior again, reset drive_after_stall again

manually to 0.

stallGuard and

stallGuard2

Functionality

Representation

of Motor Stall

Status

Internal Velocity

Ramp

Stop-on-Stall

Activation

Internal Velocity

Ramp Activation

after

Stop-on-Stall







MAIN MANUAL

TMC23x, TMC24x Stepper Motor Driver

In this chapter specific information pertaining to the setup of TMC23x and TMC24x is provided.

TMC4361 provides the following features in order to support the TMC23x motor

stepper driver family well:

Automatic Mixed Decay chopper mode

ChopSync

Automatic switchover between microstep and fullstep operation

Controlled PWM signal generation and automatic switchover between SPI and

PWM mode; see section 13.2. (page 133).

In the following section, the features are explained in greater detail.

i For further information, please refer to the manual of the particular stepper

driver motor.

In order to activate the SPI data transfer and SPI feature set for a connected

TMC23x stepper motor driver, do as follows:

Action:

Set spi_output_format = b’1000 (SPI_OUT_CONF register 0x04).

Set COVER_DATA_LENGTH = 0 (SPI_OUT_CONF register 0x04).

Result:

TMC23x is selected as connected stepper motor driver.

In order to activate the SPI data transfer and feature set for a connected


Action:



Result:

TMC24x is selected as connected stepper motor driver.

i In addition to the TMC23x features mentioned above, the TMC24x stepper

driver family provides three stallGuard bits as load measurement indicator.

Therefore, the TMC24x stepper family is supported by the TMC4361 for the

following:

Stall detection and

Stop-on-Stall behavior

Turn to next page for more information.

TMC23x/24x

Support

TMC23x Setup

TMC24x Setup






MAIN MANUAL

TMC4361 maps the following status bits of TMC23x/24x stepper drivers – which are

transferred with each SPI datagram – to the STATUS register 0x0F:

Status Register Mapping for TMC23x/24x

STATUS bit

@TMC4361

Status flag

@TMC23x/24x Description

STATUS (24) UV Undervoltage flag.

STATUS (25) OT Over temperature flag.

STATUS (26) OTPW Temperature prewarning flag.

STATUS (27) OCA Overcurrent flag for bridge A.

STATUS (28) OCB Overcurrent flag for bridge B.

STATUS (29) OLA Open load flag for bridge A.

STATUS (30) OLB Open load flag for bridge B.

STATUS (31) OCHS Overcurrent high side flag.

Table 43: Mapping of TMC23x/24x Status Flags

TMC4361 only forward new current data (CURRENTA_SPI and CURRENTB_SPI at

register 0x7B) for TMC23x/TMC24x in case the upper five bits of one of the two

9-bit current values changes; because TMC23x and TMC24x current data consist of

four bit current values and one polarity bit for each coil.

Consequently, alterations of the internal microstep resolution only apply in case the

new microstep resolution is lower than 16 bits.

Because SPI current data is transmitted, automatic switchover from microsteps to

fullsteps and vice versa is only dependent on the internal ramp velocity.

In order to activate automatic switchover between microstep and fullstep

operation, do as follows:

Action:

Set FS_VEL register 0x60 according to the velocity [pps] at which the switchover

must happen.

Set fs_en = 1 (bit19 of GENERAL_CONF register 0x00).

Result:

Now, current values are switched to fullstep values in case |VACTUAL| ≥ FS_VEL.

A switchback from fullsteps to µsteps is executed in case |VACTUAL| < FS_VEL.

The status bit FS_ACTIVE is set active as long as fullstep mode is enabled and

activated.

Turn to next page for more information.

TMC23x/24x

Status Bits

TMC23x/24x

Microsteps

Automatic

Fullstep

Switchover for

TMC23x/24x






MAIN MANUAL

TMC4361 supports the mixed decay feature for the TMC23x/24x chopper in

SPI_OUT_CONF register 0x04.

In order to configure mixed decay bits for TMC23x/24x, do as follows:

Action:

Set mixed_decay = b’00 if mixed decay must always be deactivated.

Set mixed_decay = b’01 if mixed decay must be activated for each coil during the

falling ramp of the sine curve until reaching value 0.

Set mixed_decay = b’10 if mixed decay must always be activated, except during

standstill.

Set mixed_decay = b’11 if mixed decay must always be activated.

Result:

The mixed decay bits for TMC23x/24x stepper motor drivers are set according to the

configuration and the internal MSLUT values.

i Please refer to the TMC23x/TMC24x datasheets to get more information about

the configuration of mixed decay bits.

TMC4361 forwards the internal clock at the output pin STDBY_CLK. This pin can also

be used to provide an external clock for the TMC23x/24x stepper motor driver. This

external clock generator automatically generates clock cycles that are modified by

the chopSync feature if TMC23x/24x is configured as connected motor driver. Using

chopSync enhances the motor drive for fast and smooth operation.

In order to enable the chopSync clock via the STDBY_CLK pin, do as follows:

Action:

Set CHOPSYNC_DIV register 0x1F to generate an external clock frequency fOSC

according to the following equation: fOSC = fCLK / CHOP_SYNC_DIV.

Set stdby_clk_pin_assignment = b’10 (GENERAL_CONF register 0x00).

Result:

STDBY_CLK generates an external clock with the selected frequency fOSC that

automatically provides the chopSync feature.

i Recommended minimum external frequency fOSC: two times higher than

audible range.

Connection of STDBY_CLK output pin of TMC4361 and OSC input pin of TMC23x/24x1

Risk of Burns! Avoid overheating and damage of the TMC23x/24x stepper

driver and damage of the connected motor!

You MUST use a low pass filter between STDBY_CLK output of TMC4361 and

the OSC input pin of TMC23x/24x.

You MUST keep the external clock frequency of the TMC23x/24x stepper

motor driver below 50 kHz (to prevent overheating).

This will ensure smooth and safe operation.

1 Per default (i.e. after power on and reset), STDBY_CLK forwards the internal clock that is too high for the TMC23x/24x.

See Figure 10, (page 15) that provides a properly connected sample hardware setup.

Mixed Decay

Configuration for

TMC23x/24x

ChopSync

Configuration for

TMC23x/24x

Stepper Drivers

NOTICE






MAIN MANUAL

TMC24x forwards stallGuard values ={LD2&LD1&LD0} instead of one stallGuard2

status bit. These bits represent an unsigned value between 0 and 7. The lower the

value is the higher the mechanical load is. TMC4361 can generate a one-bit internal

stall signal by analyzing the stallGuard values.

In order to set up the stall load limit for automatic stall recognition, do as

follows:

Action:

Set proper STALL_LOAD_LIMIT (bit10:8 of SPIOUT_CONF register 0x04).

Result:

Whenever {LD2&LD1&LD0} ≤ STALL_LOAD_LIMIT a stall is indicated.

This feature also allows use of the Stop-on-Stall feature – already explained in

section 10.4.4, page 104 – because this also applies to other TMC motor stepper

drivers.

Additionally, a standby datagram can be sent automatically when a

Stop-on-Stall is executed. In order to activate this behavior, do as follows:

Action:

Set VSTALL_LIMIT register 0x67 [pps] according to minimum absolute velocity

value for a correct stall recognition.

Set stop_on_stall = 1 (bit26 of REFERENCE_CONF register 0x01).


Set stdby_on_stall_for_24x = 1 (bit6 of SPIOUT_CONF register 0x04).

Result:

Whenever a stall is calculated by comparing STALL_LOAD_LIMIT to the response of

TMC24x, while at the same time the absolute value of VACTUAL exceeds VSTALL_LIMIT,

the internal ramp velocity is stopped immediately. Additionally, both current values

are then set to 0 whereupon a standby mode for the TMC24x stepper motor driver

is generated that switches off all power driver outputs and clears the error flags.

i To return from Stop-on-Stall, drive_after_stall must be set manually, as stated

further in section 10.4.4 (Page 104).

In order to exchange the UV status bit in the STATUS register 0x0F with the

calculated stallGuard bit, do as follows:

Action:

Set stall_flag_instead_of_uv_en = 1(bit10:8 of SPIOUT_CONF register 0x04).

Result:

STATUS (24) shows the calculated stallGuard bit by comparing STALL_LOAD_LIMIT with

the received response datagram of TMC24x.

Using TMC24x

stallGuard

Characteristics






MAIN MANUAL

TMC26x Stepper Motor Driver

TMC4361 provides the following features in order to support the TMC26x motor

stepper driver family well:

SPI mode that sets up current values directly.

S/D mode in which the TMC26x processes S/D outputs of TMC4361.

Automatic switchover between microstep and fullstep operation for both

modes.

Stall detection and Stop-on-Stall behavior for both modes.

S/D mode only: Transfer of automatic scaling values from TMC4361 to TMC26x.

S/D mode only: Transfer of auto-generated polling datagrams sent by TMC4361

for reception of status data and microstep position from TMC26x.


i For more information, please refer to the manual of the connected stepper

driver motor.

In order to activate the SPI data transfer mode and feature set for a connected


Action:



Result:

TMC26x in SPI mode is selected as connected stepper motor driver. Cover

datagrams and current datagrams are sent via SPI output pins.

In order to activate the S/D mode and feature set for a connected TMC26x

stepper motor driver, do as follows:

Action:

Connect SPI output pins and S/D outputs to the TMC26x stepper motor driver.



Set DIR_SETUP_TIME and STP_LENGTH_ADD (register 0x10) according to the

hardware setup.

Set proper POLL_BLOCK_MULT (bit12:7 of SPIOUT_CONF register 0x04).

Result:

TMC26x in S/D mode is selected as connected stepper motor driver. SPI output pins

transfer only cover datagram and automatic configuration datagrams because

motion is generated by processing the STPOUT/DIROUT output signals of TMC4361.

The next polling datagram is sent (POLL_BLOCK_MULT+1)*SPI_BLOCK_TIME clock

cycles after the last polling datagram.

i A high microstep frequency requires a short SPI datagram polling time.


TMC26x Stepper

Motor Driver

Support

TMC26x Setup

(SPI mode)

TMC26x Setup

(S/D mode)






MAIN MANUAL

Based on the TMC26x settings - that were explained above - TMC4361 now sends

20-bit datagrams automatically.

In order to send cover datagrams to TMC26x motor stepper drivers, do as

follows:

Action:

Set COVER_LOW (19:0) to the register values that need to be transferred.

Result:

A cover datagram is sent to the connected driver. COVER_DONE is set after data

transfer. The response of TMC26x is stored in COVER_DRV_LOW (19:0).

Because SPI current data is transmitted, the automatic switchover from microsteps

to fullsteps and vice versa entirely depends on the internal ramp velocity.



Action:

Set FS_VEL register 0x60 according to the absolute velocity [pps] at which the

switchover should happen.


Result:

Now, current values are switched to fullstep values, in case |VACTUAL| ≥ FS_VEL.



activated.

Continue on the next page for information on fullstep switchover for TMC26x in S/D

mode.

Sending Cover

Datagrams to

the TMC26x

Driver

TMC26x

SPI Mode:

Automatic

Fullstep

Switchover






MAIN MANUAL

In S/D mode, switchover from microsteps to fullsteps and vice versa is not only

dependent on the internal ramp velocity but also on the microstep position of the

TMC26x MSLUT; because switching to a lower resolution must be executed carefully

to catch the correct microstep position. Proper setting of read selection bits for

TMC26x stepper drivers TMC4361 is required to execute switchover automatically.


operation in TMC26x S/D mode, do as follows:

PRECONDITION:

Mandatory TMC26x configuration MUST be executed via cover datagrams:

Set RDSEL1 = 0 and RDSEL0 = 0 @TMC26x.

Action:

Set disable_polling = 0 (bit6 of SPI_OUT_CONF register 0x04).

Set FS_VEL register 0x60 according to the absolute switching velocity [pps].


Set fs_sdout = 0 (bit20 of GENERAL_CONF register 0x00).

Result:

The µstep resolution of TMC26x is set to fullsteps, in case |VACTUAL| ≥ FS_VEL.


FS_ACTIVE is set active as long as fullstep mode is enabled and activated.

Presettings of the TMC26x DRVCTRL register – that is executed beforehand via cover

datagrams – are considered whenever the particular register is overwritten with a

newly assigned microstep resolution.

SPI mode-supported TMC26x drivers are automatically scaled by means of current

datagrams. In order to automatically scale the current of a connected TMC26x motor

stepper driver in S/D mode, TM4361-LA sends auto-generated cover datagrams by

altering directly the CS value of the TMC26x SGCSCONF register.

TMC4361 provides features that change the current scaling automatically, which are

explained in chapter 11, page 120.

In order to activate automatic current scaling for a connected TMC26x in S/D

mode, do as follows:

Action:

Set scale_val_transfer_en = 1 (bit5 of SPI_OUT_CONF register 0x04).

Set the scale value register 0x06 and scale configuration register 0x05 according

to your requirements (see chapter 11, page 120).

Result:

If the current scaling is adapted internally, TMC4361 automatically sends cover

datagrams to TMC26x that change the CS bit directly.

Presettings of the TMC26x SGCSCONF register – that are executed beforehand via

cover datagrams – become considered whenever the particular register is

overwritten with a newly assigned current scaling value.

NOTE:

Please consider that the CS value consists of 5 bits only. Therefore, the scaling values

in register 0x06 must be adapted to 5-bit values as well.

TMC26x S/D

Mode: Automatic

Fullstep

Switchover

TMC 26x S/D

Mode: Change of

Current Scaling

Parameter






MAIN MANUAL

TMC4361 maps the following status bits of TMC26x stepper drivers – which are

transferred within each SPI response – to the STATUS register 0x0F:

Status Register Mapping for TMC26x

STATUS Bit @TMC4361 Status Flag @TMC26x Description

STATUS(24) SG stallGuard2™ status flag

STATUS(25) OT Over temperature flag

STATUS(26) OTPW Temperature prewarning flag

STATUS(27) S2GA

Short-to-ground detection

flag for high side MOSFET of

coil A

STATUS(28) S2GB

Short-to-ground detection

flag for high side MOSFET of

coil B

STATUS(29) OLA Open load flag for bridge A

STATUS(30) OLB Open load flag for bridge B

STATUS(31) STST Standstill flag

Table 44: Mapping of TMC26x Status Flags

i If polling is not disabled (disable_polling = 0), status data from TMC26x is also

available in S/D mode.

TMC389 Stepper Motor Driver

If a TMC389 is connected to the SPI output and a microstep resolution of 256 is set,

a 3-phase stepper output for coil B can be generated. All features of TMC26x stepper

motor drivers in SPI mode are also available for TMC389.

In order to activate the SPI data transfer mode and feature set - for a connected

TMC389 3-phase stepper motor driver - do as follows:

Action:


Set three_phase_stepper_en = 1 (SPI_OUT_CONF register 0x04).


Result:

Now, the CURRENTB and CURRENTB_SPI values are shifted by 120° towards CURRENTA

and CURRENTA_SPI — in contrast to the 90° shift of the 2-phase stepper motors.

TMC26x Status

Bits

Configuration

for the TMC389

3-Phase Stepper

Driver






MAIN MANUAL

TMC2130 Stepper Motor Driver

TMC4361 provides the following features in order to support the TMC2130 motor

stepper driver well:

SPI mode that sets up current values directly.

S/D mode in which the TMC2130 processes S/D outputs of TMC4361.

Automatic switchover between microstep and fullstep operation for both

modes.

Stall detection and Stop-on-Stall behavior for both modes.

S/D mode only: Transfer of automatic scaling datagrams from TMC4361 to

TMC2130.

S/D mode only: Transfer of auto-generated polling datagrams sent by

TMC4361 for reception of status data and microstep position from TMC2130.


i For more information, please refer to the manual of the TMC2130 stepper

driver motor.

In order to activate the SPI data transfer mode and feature set - for a connected

TMC2130 stepper motor driver - do as follows:

Action:



Result:

TMC2130 in SPI mode is selected as connected stepper motor driver. Cover

datagrams and current datagrams are sent via SPI output pins.

In order to activate the S/D mode and feature set - for a connected TMC2130

stepper motor driver - do as follows:

Action:

Connect SPI output pins and S/D outputs to the TMC2130 stepper motor driver.



Set DIR_SETUP_TIME and STP_LENGTH_ADD (register 0x10) according to the

hardware setup.

Set proper POLL_BLOCK_MULT (bit12:7 of SPIOUT_CONF register 0x04).

Result:

TMC2130 in S/D mode is selected as connected stepper motor driver. SPI output

pins transfer only cover datagrams and automatic configuration datagrams because

motion is generated by processing the STPOUT/DIROUT output signals of TMC4361.

The next polling datagram is sent (POLL_BLOCK_MULT+1) · SPI_BLOCK_TIME clock

cycles after the last polling datagram.

i A high microstep frequency requires a short SPI datagram polling time.

TMC2130

Support

Set-up TMC2130

Support

(SPI Mode)

Set-up TMC2130

Support

(S/D Mode)






MAIN MANUAL

Based upon the TMC2130-supported settings explained above, the TMC4361 now

sends 40 bit datagrams automatically.

In order to send cover datagrams to TMC2130 motor stepper drivers, do as

follows:

Action:

Set COVER_HIGH (7:0) register 0x6D to the address value that need to be

transferred.

Set COVER_LOW (31:0) register 0x6C to the data values that need to be

transferred.

Result:

A cover datagram is sent to the connected driver. COVER_DONE is set after data

transfer. The response of TMC2130 is stored in COVER_DRV_HIGH (7:0) and

COVER_DRV_LOW (31:0)

Because SPI current data is transmitted, the automatic switchover from microsteps

to fullsteps and vice versa entirely depends on the internal ramp velocity.



Action:

Set FS_VEL register 0x60 according to absolute velocity [pps] at which the

switchover should happen.


Result:

Now, current values are switched to fullstep values, in case |VACTUAL| ≥ FS_VEL.



activated.

During S/D mode, switchover from microsteps to fullsteps and vice versa is only

executed directly by TMC2130. Therefore, a fullstep velocity must only be defined in

TMC2130. TMC4361 transfers microsteps whether TMC2130 is operating in fullstep

or microstep mode.

Sending Cover

Datagrams to

the TMC2130

Driver

TMC2130 SPI

Mode: Automatic

Fullstep

Switchover

TMC2130 S/D

Mode: Automatic

Fullstep

Switchover






MAIN MANUAL

TMC4361 provides features that change the current scaling automatically, which is

explained in Chapter 11, page 120. Stepper motor drivers that are supported by SPI

current datagrams are automatically scaled via current datagrams. To automatically

scale the current of a connected TMC2130 motor stepper driver in S/D mode,

TM4361-LA sends auto-generated cover datagrams by altering the CS value of the

TMC2130 IHOLD_IRUN register.

In order to activate automatic current scaling for TMC2130 in S/D mode:

Action:

Set scale_val_transfer_en = 1 (bit5 of SPI_OUT_CONF register 0x04).

Set scale value register 0x06 and scale configuration register 0x05 according to

your requirements (see chapter 11, page 120).

Result:

When current scaling is adapted internally, TMC4361 sends cover datagrams to

TMC2130 automatically, which changes the CS bit directly.

Presettings of the IHOLD_IRUN register of the TMC2130 – executed before via cover

datagrams – are considered whenever the particular register is overwritten with a

newly assigned current scaling value.

i Please consider that the IRUN and IHOLD values consist of 5 bits only.

Therefore, scaling values in register 0x06 must also be adapted to 5-bit values.

TMC4361 maps the following status bits of TMC2130 stepper drivers – which are

transferred within each SPI response – to the STATUS register 0x0F:

Status Register Mapping for TMC2130

STATUS Bit @TMC4361 Status Flag @TMC2130 Description

STATUS (24) SG stallGuard2™ status flag.

STATUS (25) OT Over temperature flag.

STATUS (26) OTPW Temperature prewarning flag.

STATUS (27) S2GA Short-to-ground detection flag

for high side MOSFET of coil A.

STATUS (28) S2GB Short-to-ground detection flag

for high side MOSFET of coil B.

STATUS (29) OLA Open load flag for bridge A.

STATUS (30) OLB Open load flag for bridge B.

STATUS (31) STST Standstill flag.

Table 45: Mapping of TMC2130 Status Flags

i If polling is not disabled (disable_polling = 0), status data from TMC2130 is also

available in S/D mode.

TMC 2130 S/D

Mode: Changing

current Scaling

Parameter

TMC2130 Status

Bits






MAIN MANUAL

Connecting Non-TMC Stepper Motor Driver or SPI-DAC at SPI output interface

TMC4361 also provides configuration data for driver chips of other companies via the cover

registers. The following output format settings can be selected:

Non-TMC Data Transfer Options

Output Formats spi_output_format Comment

SPI output off b’0000 SPI output driver pins are switched off.

Cover output only b’1111 Only cover datagrams are sent via the SPI output pins.

Unsigned scaling

factor b’0100

The actual unsigned current scaling value is provided at

the SPI output pins.

Signed current data b’0101 Both actual signed current values are provided in one

datagram at the SPI output pins.

DAC scaling factor b’0110 The actual unsigned current scaling value is provided at

the SPI output pins for a defined DAC address.

DAC absolute values b’0011

Both actual signed current values are provided in two

datagrams at the SPI output pins for defined DAC

addresses, which are absolute values.

Phase bits are generated at the STPOUT/DIROUT

interface. Phase bit = 0 signifies positive values.

DAC absolute values b’0010



addresses, which are absolute values.

Phase bits are generated at the STPOUT/DIROUT

interface. Phase bit = 1 signifies positive values.

DAC adapted values b’0001



addresses.

These values are mapped to positive values:

Current value equals minimum value (-255) = 0

Current value equals 0 = 128

Current value equals maximum value (+255) = 255

Table 46: Non-TMC Data Transfer Options

NOTE:

Please note that the COVER_DATA_LENGTH must be set according to the predefined driver chip datagram

length.

In order to send cover datagrams only, use this option to avoid datagrams that

send scaling or current values whenever these internal values are changed.

Please keep in mind that only the SPI protocol is available that is used for

TMC motor stepper drivers.

Setting spi_output_format = b’0100 leads to a transfer of the 8-bit scaling factor if this

value is altered internally: Output data(7:0) = SCALE_PARAM (7:0).

The MSB 7 is sent first. If more than 8 bits are configured as COVER_DATA_LENGTH,

leading zeros are inserted before the MSB.

Setting spi_output_format = b’0101 leads to a transfer of both signed current values

that consists of 18 bits and are sent one after the other in one datagram:

Output data(17:0) = CURRENTA_SPI (8:0) & CURRENTB_SPI (8:0).

The MSB (bit17) is sent first. If more than 18 bits are configured as

COVER_DATA_LENGTH, leading zeros are inserted before the MSB.

Cover

Output only !

Sending

unsigned Scaling

Factor

Sending signed

Current Values






MAIN MANUAL

Connecting a SPI-DAC

Connecting a compatible SPI-DAC to SPI output pins, several possibilities are

available for output configuration:

Output of the internal SPI current values.

Output of the internal current scaling value.

Several SPI protocols are available.

SPI-DACs can convert more than one digital value, but every value is transmitted in

one datagram. Because TMC4361 provides two current values, a datagram transfer

from TMC4361 to a connected SPI-DAC is split into two datagrams, one for each

current value: CURRENTA_SPI and CURRENTB_SPI.

The transmission is initiated as soon as one of both values is changed internally. The

data transfer of the second current value CURRENTB_SPI is executed automatically

whenever the transmission of CURRENTA_SPI is completed.

If only the scaling factor SCALE_PARAM needs to be transferred, only one datagram is

sent out.

Per default, the SPI protocol follows the TMC style: To initiate a data transfer, the

negated chip select signal NSCSDRV_SDO switches from high to low level. After a

while, the serial clock SCKDRV_NSDO switches from high to low level. When the

transmission is finished, the serial clock switches to high level. Afterwards, the

negated chip select signal switches to high level to finish the data transfer.

Adaptations to suit other SPI protocols are also available:

In order to set serial clock to low level - before the negated chip select switches

to low level - do as follows:

Action:

Set sck_low_before_csn = 1 (bit4 of SPIOUT_CONF register 0x04).

Result:

SCKDRV_NSDO is tied low before NSCSDRV_SDO switches to low level to initiate data

transfer.

Per default, TMC drivers sample master data with the rising edge of the serial master

clock. Thus, TMC4361 shifts output data at SDODRV_SCLK with the falling edge of

SCKDRV_NSDO.

If the data must be sampled with the falling edge of the master clock at the

driver’s side, do as follows:

Action:

Set new_out_bit_at_rise = 1 (bit5 of SPIOUT_CONF register 0x04).

Result:

The output data at SDODRV_SCLK is changed with the rising edge of SCKDRV_NSDO.

DAC Output

Values

DAC Data

Transfer

Changing SPI

Output Protocol

for SPI-DAC






MAIN MANUAL

SPI transmission to a DAC transfers an address or a command prior to the value that

must be defined. The length of the prefixed command/address can be assigned by

setting DAC_CMD_LENGTH according to specification of the SPI-DAC.

In order to set up the DAC communication scheme, do as follows:

Action:

Set DAC_CMD_LENGTH (bit11:7 of SPI_OUT_CONF register 0x04) according to the

length of the address / command, which is placed in front of the values.

Set DAC_ADDR register 0x1D according to your requirements:

Address/command of the 1st value: Set DAC_ADDR(15:0) = DAC_ADDR_A.

Address/command of the 2nd value: Set DAC_ADDR(31:16)= DAC_ADDR_B.

Result:

DAC_ADDR_A is placed in front of the first transferred value that can be the current

value of coilA (=CURRENTA_SPI) or the scaling factor (=SCALE_PARAM), whereas

DAC_ADDR_B is placed before the second current value CURRENTB_SPI.

i COVER_DATA_LENGTH comprises the whole datagram length, which is the sum of

the address/length DAC_CMD_LENGTH and the 8-bit data length.

i If the cover register length comprises more bits than the combination of

address/command and value, trailing zeros are added at the end.

i The command bits consist of the least significant bits of DAC_ADDR_x if the

command length is less than 16 bits long.

Several opportunities are available for the DAC data style:

Current values are converted to absolute values. The phases of the values are

generated at the STPOUT (coilA) and DIROUT (coilB) pins. The base line (value

equals 0) is located at 0 (see Table 47, Figures B and C).

The current values, which range between −255 and 255, are mapped to values

between 0 and +255: the minimum value of −255 is an output value of 0, whereas

the baseline is set to +128. The maximum value remains at +255. In detail, the value

is divided by two and 128 is added to the quotient (Table 47, page 119, Fig. A).

TMC4381 provides an offset to compensate for a shifted DAC baseline.

In order to shift the DAC baseline, do as follows:

Action:

Set DAC_OFFSET (bit31:24 of register 0x7E) according to your requirements.

Result:

The digital values are shifted accordingly. Table 47 (page 119), Figure D shows

absolute DAC values. The DAC baseline is shifted by 32 steps, whereas

Table 47 (page 119), Figure E shows mapped DAC values, which are shifted by

64 steps.

i For the three available absolute values options – including the unsigned scale

parameter transfer – the offset represents an unsigned number.

i For the mapped values option the offset represents a signed number. To avoid

a carry over at the value limits +255 and -256 when using an DAC offset, the

MSLUT values must be scaled down for the SPI output values

(see Table 47 (page 119), Figures D and E). This can be done by using the current

scale feature, as explained in chapter 11, page 120.

i Continued on next page.

DAC Address

Values

DAC Data Values






MAIN MANUAL

Available DAC Options for the SPI Output Interface

Original SPI Output Curves: A Mapped DAC values:

B Absolute DAC values (positive phase = 0) C Absolute DAC values (positive phase = 1)

D Absolute DAC values, original MSLUT

values are scaled to ½, DAC value offset=32

E Mapped DAC values, original MSLUT values

are scaled to ½, DAC value offset = 64

Table 47: Available SPI-DAC Options

-256

-128

0

128

256

Original SPI output values

CURRENTA_SPI CURRENTB_SPI

0

64

128

192

256

Mapped DAC values

DAC value A DAC value B

0

64

128

192

256

DAC values


0

64

128

192

256

DAC values


0

1

Phase value coil A

STPOUT

0

1

Phase value coil A

STPOUT

0

1

Phase value coil B

DIROUT

0

1

Phase value coil B

DIROUT

0

64

128

192

256

DAC values


0

64

128

192

256

Mapped DAC values







MAIN MANUAL

11. Current Scaling

The current values of register 0x7A – CURRENTA and CURRENTB – of the microstep lookup table

(MSLUT) represent the maximum 9-bit signed values, which can be sent via the SPIOUT output

interface. In most sections of the velocity ramp it is not required to drive the motor with the full

current amplitude. Various possibilities are implemented that allow adaptation of actual current

values of the MSLUT to the present ramp status. Scale parameters are available for boost current,

hold current, and drive current.

These parameters can be assigned independently in the SCALE_VALUES register 0x06, and are used

automatically for different states of the velocity ramp; if enabled, as described below. Prior to

describing the various feasible scaling situations, a brief explanation of the scaling calculation is

provided.

When scaling is enabled for the present ramp state, the actual current values of the

MSLUT are multiplied with the MULT_SCALE parameter that is deduced from one of

the four SCALE_VALUES:

MULT_SCALE = (actual_SCALE_VAL + 1) / 256

with actual_SCALE_VAL = {HOLD, BOOST, DRV1, DRV2}.

Consequently, this MULT_SCALE ranges from 0 to 1: 0 < MULT_SCALE ≤ 1.

MULT_SCALE is then multiplied with the actual current values CURRENTA and

CURRENTB, which are generated by the MSLUT:

CURRENTA_SPI = CURRENTA · MULT_SCALE (bit8:0 of 0x7B)

CURRENTB_SPI = CURRENTB · MULT_SCALE (bit24:16 of 0x7B)

These values are transferred via SPI output interface. If no current scaling is enabled,

the output values CURRENTA_SPI and CURRENTB_SPI are equal to the MSLUT values

CURRENTA and CURRENTB because the scaling values are equal to the maximum 255,

per default. Thus, scaling will only decrease the original MSLUT values.

Also, the actual scale parameter can assume intermediate values because TMC4361

offers possibilities to convert smoothly from one scale value to another. The actual

scale parameter SCALE_PARAM can be read out at register 0x7C. It has the same range

as the four SCALE_VALUES.

Use of TMC26x and TMC2130 stepper motor drivers in S/D mode:

If TMC motor stepper drivers are used in S/D mode, scaling values comprise only

5 bits because the CS value of TMC26x, and the IHOLD, IRUN values of TMC2130

motor stepper drivers are adapted directly. Therefore, MULT_SCALE is calculated

slightly differently:

MULT_SCALE = (actual_SCALE_VAL + 1) / 32

Calculation of

the Current

Output Values

Description of

Scaling

Calculation

AREAS OF

SPECIAL

CONCERN

!






MAIN MANUAL

During standstill, the current can be scaled down considerably in most applications

because the energy demand is lower than during motion. In addition to the scaling

value, the standby delay must be configured. The delay defines the time between

ramp stop and startup of hold scaling. Whenever the delay is set

to 0, hold scaling is immediately enabled at the end of the velocity ramp. Because

most applications require waiting for system oscillations after ramp stop, this delay

must be set up in most cases.

In order to set up and enable hold current scaling, do as follows:

Action:

Set STDBY_DELAY register 0x15 according to the duration of the time after ramp

stop hold scaling should be enabled.

Set HOLD_SCALE_VAL = SCALE_VALUES (31:24) according to the maximum current

during motor standstill.

Set hold_current_scale_en = 1 (CURRENT_CONF register 0x05).

Set closed_loop_scale_en = 0 (CURRENT_CONF register 0x05).

Result:

The standby timer is started as soon as VACTUAL reaches 0. After STDBY_DELAY clock

cycles the standby timer expires that activates the hold scaling phase.

The standby status can be forwarded via STDBY_CLK output pin.

In order to generate an output standby signal, do as follows:

Action:

Set stdby_clk_pin_assignment (1) = 0 (Bit14 of GENERAL_CONF register 0x00).

Set stdby_clk_pin_assignment (0) (Bit13 of GENERAL_CONF register 0x00) according

to the active voltage level of the output pin.

Result:

STDBY_CLK output pin forwards the internally generated standby status. The active

output level equals stdby_clk_pin_assignment (0).

Some applications require a freewheeling behavior after ramp stop. This means that

the current values are set to 0. A delay timer can be configured to define the time

between standby start and the beginning of freewheeling.

In order to set up and enable freewheeling, do as follows:

Action:

Set FREEWHEEL_DELAY register 0x16 according to the duration of the time after

standby start, so that freewheeling is activated accordingly.

Set freewheeling_en = 1 (CURRENT_CONF register 0x05).


Result:

The freewheeling timer is started as soon as the standby mode is activated. After

completion of FREEWHEEL_DELAY clock cycles, the freewheeling timer expires that

activates the freewheeling phase.

i Just before the velocity ramps starts internal scaling is set to the standby scaling

value. This avoids starting the ramp at current values that are equal to 0.

Hold Current

Scaling

Standby Status

Freewheeling






MAIN MANUAL

Current Scaling during Motion

If the current values need to be scaled during motion, several options are available. Up to three

scaling values can be selected: Two drive scaling values and one boost scale value. Different scale

values can be automatically assigned to the various sections of the velocity ramp.

Drive scaling is the preferred direct and mostly unconditional scaling option. If no

boost scaling is enabled, the current values are scaled according to the given scale

value, independent of the present ramp status.

In order to set up and enable only drive current scaling, do as follows:

Action:

Set DRV1_SCALE_VAL = SCALE_VALUES (15:8) according to the maximum current

during motion.

Set drive_current_scale_en = 1 (CURRENT_CONF register 0x05).


Result:

As long as no other motion scale options are activated the current values of the

MSLUT are scaled according to DRV1_SCALE_VAL during motion (VACTUAL <> 0).

A second drive scale parameter can be assigned in order to differentiate the motion

scaling according to the internal ramp velocity.

In order to set up and enable drive current scaling with two different scaling

values, do as follows:

Action:

Set VDRV_SCALE_LIMIT register 0x17 [pps] according to switching velocity at which

drive scaling will change.

Set DRV1_SCALE_VAL = SCALE_VALUES(15:8) according to maximum current during

motion below VDRV_SCALE_LIMIT.

Set DRV2_SCALE_VAL = SCALE_VALUES(23:16) according to maximum current during

motion beyond VDRV_SCALE_LIMIT.

Set drive_current_scale_en = 1 (CURRENT_CONF register 0x05).

Set sec_drive_current_scale_en = 1 (CURRENT_CONF register 0x05).


Result:

As long as no boost scaling is activated, the current values of the MSLUT are scaled

according to DRV1_SCALE_VAL as long as VACTUAL ≤ VDRV_SCALE_LIMIT.

Whenever VACTUAL > VDRV_SCALE_LIMIT the current values are scaled according to

DRV2_SCALE_VAL.

Drive Scaling

Alternative Drive

Scaling






MAIN MANUAL

In certain sections of the velocity ramp it can be useful to boost the current. Boost

current can be assigned temporarily either after ramp start or during the whole

acceleration/deceleration phase. All options can be selected separately; or in

combination.

i All three options use the same scaling value BOOST_SCALE_VAL.

OPTION 1: BOOST SCALING AT RAMP START

In order to set up and enable boost current scaling within a defined time frame

directly after the velocity ramp start-up, do as follows:

Action:

Set BOOST_TIME register 0x18 according to the delay period at which boost

current scaling is activated after a velocity ramp start.

Set BOOST_SCALE_VAL = SCALE_VALUES (7:0) according to the maximum current

during the boost phase.

Set boost_current_after_start_en = 1 (CURRENT_CONF register 0x05).


Result:

After the velocity ramp start (VACTUAL = 0 before), boost scaling is activated

according to BOOST_SCALE_VAL. The boost timer expires after BOOST_TIME clock

cycles. Afterwards, any other selected scaling value is used, if active and selected.

OPTION 2: BOOST SCALING ON ACCELERATION SLOPES

In order to set up and enable boost current scaling for the acceleration phase

of the velocity ramp, do as follows:

Action:

Set BOOST_SCALE_VAL = SCALE_VALUES (7:0) according to the maximum current

during the boost phase.

Set boost_current_on_acc_en = 1 (CURRENT_CONF register 0x05).


Result:

As long as the absolute internal velocity |VACTUAL| increases, the boost scaling

function is activated according to BOOST_SCALE_VAL. The present ramp state can be

read out by the RAMP_STATE flag. Acceleration slopes are indicated by

RAMP_STATE = b’01.

OPTION 3: BOOST SCALING ON DECELERATION SLOPES

In order to set up and enable boost current scaling for the deceleration phase

of the velocity ramp, do as follows:

Action:

Set BOOST_SCALE_VAL = SCALE_VALUES(7:0) according to maximum current during

the boost phase.

Set boost_current_on_dec_en = 1 (CURRENT_CONF register 0x05).


Result:

As long as the absolute internal velocity |VACTUAL| decreases, boost scaling is

activated according to BOOST_SCALE_VAL. The present ramp state can be read out at

the RAMP_STATE flag. Deceleration slopes are indicated by RAMP_STATE = b’10.

Boost Current






MAIN MANUAL

Scale Mode Transition Process Control

Transition from one scale value to the next active value can be configured as slight conversion. It

is advisable to avoid abrupt scaling alterations, which can cause unwanted oscillations and/or

motor stall. Three different parameters can be set to convert to higher or lower current scale

values.

It is often required to peter out the motion (by smoothening the transition

process from motion scaling to hold scaling) in order to avoid system standstill

oscillations.

In order to configure a smooth transition from motion current scaling to hold

current scaling, do as follows:

Action:

Set HOLD_SCALE_DELAY register 0x19 according to the delay period after which the

actual scale parameter is decreased by one step towards hold current scale value.

Result:

Immediately after the hold scaling current is activated, the actual scale parameter is

decreased by one step per HOLD_SCALE_DELAY clock cycles until

SCALE_PARAM = HOLD_SCALE_VAL.

i If HOLD_SCALE_DELAY = 0, the hold current scaling value HOLD_SCALE_VAL is

assigned immediately whenever the hold current scaling is activated.

To avoid step loss – in case a higher scale value is assigned during motion – the

transition from low to high current scale values can also be adapted.

In order to configure a smooth transition from a lower motion current scaling

value to a higher motion current scaling value, do as follows:

Action:

Set UP_SCALE_DELAY register 0x18 according to the delay period after which the

actual scale parameter is increased by one step towards the higher current scale

value.

Result:

Whenever a higher current scale value is assigned internally, the actual scale

parameter is increased by one step per UP_SCALE_DELAY clock cycles until the

assigned scale parameter is reached.

i If UP_SCALE_DELAY = 0, the higher current scaling value is assigned immediately

whenever the corresponding current scaling phase is activated.

Description continued on next page.

Transition

to Hold

Current

Scaling

!

Transition

to higher

Motion

Current

Scaling

!






MAIN MANUAL

To avoid step loss or unwanted oscillations – in case a lower scale value is

assigned during motion – the transition from high to low current scale values

can be adapted also.

In order to configure a smooth transition from a higher motion current scaling

value to a lower motion current scaling value, do as follows:

Action:

Set DRIVE_SCALE_DELAY register 0x1A according to the delay period after which

the actual scale parameter is decreased by one step towards the lower current

scale value.

Result:

Whenever a lower current scale value is assigned internally, the actual scale

parameter is decreased by one step per DRIVE_SCALE_DELAY clock cycles until the


i If DRIVE_SCALE_DELAY = 0, the lower current scaling value is assigned

immediately whenever the corresponding current scaling phase is activated.

Two examples are provided on the following pages that illustrate how scaling

modes can be used.

The scale parameter SCALE_PARAM is shown in combination with its related scale

timers in clock cycles and in combination with the underlying velocity ramp.

Transition

to lower

Motion

Current

Scaling

!






MAIN MANUAL

Current Scaling Examples

In this example, the following scale options are enabled:

Standby scaling

Freewheeling

Boost scaling at start

Boost scaling on deceleration ramps

Drive scaling

The different scaling stages of the trapezoidal velocity ramp are shown in different

colors in the Figure A below.

Figure B shows the internal scale parameter SCALE_PARAM as function of time. The

scale parameter is not switched immediately whenever the scaling situations alters;

because delay timers are used. A transition time between the assigned values is

generated. Four transition phases are shown that are calculated as follows:

tSTART_SCALE = (BOOST_SCALE_VAL – HOLD_SCALE_VAL) · UP_SCALE_DELAY · fCLK

tDN_SCALE = (BOOST_SCALE_VAL – DRV1_SCALE_VAL) · DRV_SCALE_DELAY · fCLK

tUP_SCALE = (BOOST_SCALE_VAL – DRV1_SCALE_VAL) · UP_SCALE_DELAY · fCLK

tHOLD_SCALE = (DRV1_SCALE_VAL – HOLD_SCALE_VAL) · HOLD_SCALE_DELAY · fCLK

Figure C shows the different timers that are used:

To finish boost scaling after start.

To start standby scaling.

To start freewheeling.

i These three delay values are directly determined by their respective register

values 0x1B, 0x15, and 0x16.

Figure 52: Scaling Example 1

v(t)

t

t

SCALE_PARAM

Boost scaling

Drv1 scaling

StdBy scaling

Freewheeling

t

scale timer [clk cycles]

BOOST_SCALE_VAL

DRV1_SCALE_VAL

HOLD_SCALE_VAL

STDBY_DELAY

FREEWHEEL_DELAY

BOOST_TIME

tDN_SCALE tUP_SCALE tDN_SCALE

tHOLD_SCALE

tSTART_SCALE

A)

B)

C)

Scaling Mode

Example 1






MAIN MANUAL

In this example, the following scale options are enabled:

Boost scaling on acceleration ramps

Drive scaling 1 and 2

As long as |VACTUAL| < VDRV_SCALE_LIMIT, Drv1 scaling is active. Both drive scaling

modes are used for the deceleration ramp because boost current is not enabled

during deceleration slopes (boost_current_on_dec = 0).

Whenever VACTUAL traverses 0 the RAMP_STATUS switches to acceleration ramp, and

boost scaling becomes enabled again.

This is shown in Figure 53 A. Figure 53 B depicts the actual scale parameter, which

is altered with the formerly specified delays. In contrast to example 1, tSTART_SCALE is

changed to the following calculation:

tDN_SCALE = (BOOST_SCALE_VAL – DRV1_SCALE_VAL) · DRV_SCALE_DELAY · fCLK

Whereas the other transition phases depend on whether DRV1_SCALE_VAL or

DRV2_SCALE_VAL is used either; before or after the transition process.

Figure 53: Scaling Example 2

Scaling Mode

Example 2

v(t)

t

t

SCALE_PARAM

VDRV_SCALE_LIMIT

-VDRV_SCALE_LIMIT

Boost scaling

Drv1 scaling

Drv2 scaling

BOOST_SCALE_VAL

DRV1_SCALE_VAL

DRV2_SCALE_VAL






MAIN MANUAL

12. NFREEZE and Emergency Stop

In case dysfunctions at board level occur, some applications require an additional strategy to end

current operations without any delay. Therefore, TMC4361 provides the low active safety pin

NFREEZE.

NFREEZE is low active. An active NFREEZE input transition from high to low level

stops the current ramp immediately in a user configured way.

At the moment - when NFREEZE switches to low - an event FROZEN is triggered at

EVENTS (10). FROZEN remains active until the reset of the TMC4361.

It is necessary to tie NFREEZE low for at least three clock cycles because of the

input filter of three consecutive sample points.

Pin Description: NFREEZE

Pin Name Type Remarks

NFREEZE Input External enable pin; low active.

Table 48: Pin Description: NFREEZE

Pin Descriptions: DFREEZE and IFREEZE


DFREEZE 0x4E (23:0) RW Deceleration value in the case of an active FREEZE event.

IFREEZE 0x4E (31:24) RW Current scaling value in the case of an active FREEZE event.

Table 49: Pin Descriptions DFREEZE and IFREEZE

Two parameters (DFREEZE and IFREEZE) are necessary in order to be able to use the

TMC4361 freeze function. They are integrated in the freeze register, which can be

written only once after an active reset; assuming that there has not been a ramp

start before. Thus, the freeze parameters should be set directly before operation.

NOTE:

Selected values cannot be altered until the next active reset. These restrictions are

necessary to protect the TMC4361 freeze configuration from incorrect SPI data sent

from the microcontroller in case of error.

Keep in mind that:

The polarity of NFREEZE input cannot be assigned.

The freeze register can always be read out.

During freeze state ramp register values can be read out.

NFREEZE

Operational

Principle

AREAS OF

SPECIAL

CONCERN

!

Configuration of

FREEZE Function

AREAS OF

SPECIAL

CONCERN !






MAIN MANUAL

DFREEZE can be used for an automatic ramp stop configuration. Two options

are available:

Option 1: Use of DFREEZE = 0 for a hard stop.

Option 2: Use of DFREEZE ≠ 0 for a linear deceleration ramp.

PRINCIPLE:

Due to the independence of DFREEZE from internal register values like

direct_acc_val_en or the given clock frequency fCLK (which can be altered by erroneous

SPI signals) the deceleration value DFREEZE is always given as velocity value change

per clock cycle. Therefore, the DFREEZE value is calculated as follows:

d_freeze [pps²] = DFREEZE / 237 · fCLK2

This leads to the same behavior of the motor and is like setting direct_acc_val_en to 1

for the other acceleration values during normal operation.

IFREEZE can be used to configure the current scaling value during a freeze

event. Two options are available:

Option 1: Use of IFREEZE = 0 for assigning the last specified current scaling

value before the freeze event.

Option 2: Use of IFREEZE ≠ 0 for assigning a defined current scaling value.

PRINCIPLE:

IFREEZE is a current scaling value which becomes valid in case NFREEZE has been tied

to low and the related event (FROZEN) has been released.

In case IFREEZE is set to 0, the last scaling value before the emergency event is

assigned permanently.

The scale value IFREEZE then manipulates the current value in the same way as

explained in chapter 11, page 120.

Configuration of

DFREEZE for

automatic Ramp

Stop

Configuration of

IFREEZE current

Scaling Value






MAIN MANUAL

13. Controlled PWM Output

TMC4361 offers controlled PWM (Pulse Width Modulation) signals at STPOUT and DIROUT output

pins. These PWM signals can be scaled, depending on the internal velocity. If a TMC23x/24x stepper

motor driver is connected and configured properly, the PWM signals are redirected to two SPI

output interface pins. This avoids rerouting of signal lines at board level if SPI mode is switched to

PWM mode, or vice versa.

In this chapter information is provided on the basic setup of the PWM output configuration; and

also on TMC23x/24x control PWM input support.

Dedicated PWM Output Pins


STPOUT_PWMA Output PWM output for coil A.

DIROUT_PWMB Output PWM output for coil B.

Connected and selected TMC23x/24x stepper motor drivers only:

SDODRV Output PWM output for coil A.

NSCSDRV Output PWM output for coil B.

Table 50: Dedicated PWM Output Pins

Dedicated PWM Output Registers


GENERAL_CONF 0x00 RW Bit 21: pwm_out_en.

CURENT_CONF 0x05 RW

pwm_scale_en = CURRENT_CONF (8): PWM scale enable

switch

PWM_AMPL = CURRENT_CONF (31:16): PWM amplitude

at VACTUAL = 0.

PWM_VMAX 0x17 RW

Second assignment to VDRV_SCALE_LIMIT: velocity at

which the PWM scale parameter reaches 1

(maximum).

PWM_FREQ 0x1F RW Number of clock cycles that forms one PWM period.

Table 51: Dedicated PWM Output Registers






MAIN MANUAL

PWM Output Generation and Scaling Possibilities

The STPOUT and DIROUT output pins generally forward internal generated

microsteps and motion direction. In contrast to that, it is possible to forward the

internal MSLUT value as PWM output signals, which is dependent on the PWM

frequency.

In order to generate PWM output, do as follows:

Action:

Set PWM_FREQ register 0x1F to the number of clock cycles for one PWM cycle.

Set pwm_out_en = 1 (GENERAL_CONF register 0x00).

Result:

Step/Dir output is disabled and PWM signals are forwarded via STPOUT_PWMA and

DIROUT_PWMB. PWM frequency fPWM is calculated by:

fPWM = fCLK / PWM_FREQ

If PWM Voltage mode is selected:

Avoid unintended overheating to prevent motor damage during PWM mode!

At lower velocity values PWM voltage scaling MUST be enabled.

This will ensure smooth operation during controlled PWM mode.

The duty cycle of both signals represent the sine (STPOUT) and cosine (DIROUT)

values of the MSLUT.

PWM voltage scaling does not work the same way as presented for the SPI current

output interface (see chapter 11, page 120). PWM scaling is adapted linearly, which

depends on the internal ramp velocity. During Voltage PWM mode the scaling value

at VACTUAL = 0 must be assigned, and also the velocity at which full scaling is

reached.

In order to generate a scaled PWM output, do as follows:

Action:

Set PWM_AMPL (bit31:16 of register 0x05) as start PWM scaling value.

Set PWM_VMAX register 0x17 to the internal ramp velocity [pps] at which full PWM

scaling is reached.

Set pwm_scale = 1 (bit8 of CURRENT_CONF register 0x05).

Result:

PWM_SCALE is the actual scaling value.

In case VACTUAL = 0, PWM_SCALE = (PWM_AMPL + 1) / 217.

i Whenever the absolute velocity value increases, the scale parameter also

increases linearly until it reaches the maximum of PWM_SCALE = 0.5 at VACTUAL

= PWM_VMAX.

i The minimum duty cycle is calculated by DUTY_MIN = (0.5 – PWM_SCALE).

i The maximum duty cycle is calculated by DUTY_MAX = (0.5 + PWM_SCALE).

i These values set the PWM duty cycle limits of any internal ramp velocity.

Enable PWM

Output

Generation

NOTICE

PWM Duty Cycle

Scaling






MAIN MANUAL

In Figure 54 below, the calculation of minimum/maximum PWM duty cycles with

PWM_AMPL = 32767 is shown on the left side. Resulting duty cycles for different

positions in the sine voltage curve are depicted on the right side. Calculated delays

of minimum/maximum duty cycles are also shown.

Figure 54: Calculation of PWM Duty Cycles (PWM_AMPL)

PWM Scale

Example

PWM_SCALE

VACTUALPWM_VMAX

(PWM_AMPL+1)

2^17

0.5

tDUTY_CYCLE

PWM_VMAX

PWM_FREQ

fCLK

tDUTY_MAX=(0.5+PWM_SCALE)•PWM_FREQ/fCLK

tDUTY_MIN=(0.5–PWM_SCALE)•PWM_FREQ/fCLK

VACTUAL

t

voltage(V)

t

t0.5•PWM_FREQ

fCLK

t

I

I I

I I II

I I

I I I






MAIN MANUAL

PWM Output Generation for TMC23x/24x

PWM output signals can be used for TMC23x/24x stepper motor drivers Voltage

PWM mode. TMC4361 forwards the internal PWM output signals at the

corresponding SPI output interface pins because the drivers share input and output

pins for the SPI mode and the Voltage PWM mode. This feature enables variable

operation of the TMC23x/24x in the one or the other mode without rerouting the

particular signal lines at board level.

In order to generate a PWM output for TMC23x/24x stepper motor drivers, do

as follows:

Action:


Set spi_output_format = b’1000 (TMC23x) or

spi_output_format = b’1001 (TMC24x).


Set SPI_SWITCH_VEL register 0x1D to 0.

Result:

SPI output interface is disabled, controlled PWM output for TMC23x/24x is

enabled.

SDODRV_SCLK output pin forwards PWM PHA signal.

NSCSDRV_SDO output pin forwards PWM PHB signal.

MP2 is set to low voltage level that disables TMC23x/24x SPI mode.

SDODRV_SCLK analyses the error flags that are forward via SDO output pin of

TMC23x/24x. These error flags indicate overcurrent on any bridge or the

overtemperature flag. Therefore, these three status bits of TMC4361 are

altered according to the ERR flag.

SCKDRV_NSDO is set to high voltage level to set MDBN of TMC23x/24x to high

voltage level.

NOTE:

Only the five pins mentioned above are set accordingly by TMC4361.

Please be aware that all other pins of TMC23x/24x must be set according to your

requirements, especially ANN/MDAN = high voltage level, and INA resp. INB according

to the current limit.

i For correct hardware setup information refer to TMC23x/24x manuals.

Figure 55: TMC4361 connected with TMC23x/24x operating in SPI Mode or PWM Mode

Controlled PWM

Signals for

TMC23x/24x

TMC4361 with

TMC23x/24x

Stepper Driver

TMC4361µC SCK

MOSI

MISO

SS

SCKIN

SDOIN

CLKCLK_EX

T

NSCSIN

SDIIN

SDO/ERR

CSN/PHB

SDI/PHA

SCK/MDBN

TMC23x/24x

M

NSCSDRV_SDO

SDODRV_SCLK

SCKDRV_NSDO

SDIDRV_NSCLK

STDBY_CLK Output for chopSync

OSC

15K

680pF

SPEMP2

ANN/MDAN

VCCIO






MAIN MANUAL

The hardware setup scenario, as shown on the previous page, also allows switching

between SPI and Voltage PWM mode. It is advisable to enable or disable the Voltage

PWM mode during standstill of the internal ramp.

In order to disable Voltage PWM mode for TMC23x/24x, do as follows:

Action:


Result:

SPI output interface is enabled and controlled PWM output for TMC23x/24x is

disabled. MP2 – that must be connected with SPE@TMC23x/24x – is set to high

voltage level, which enables TMC23x/24x SPI mode.

However, it is also possible to switch between both modes during motion. Because

the internal MSLUT is used either as voltage specification or as current specification,

microstep loss can occur whenever the mode is switched in case the switching

velocity is passed by.

i In order to overcome this, issue a microstep offset during PWM mode can be

assigned.

In order to set up a TMC23x/24x configuration that switches between

SPI and PWM voltage mode, do as follows:

Action:



Set spi_output_format = b’1000 (TMC23x) or

spi_output_format = b’1001 (TMC24x).

Set SPI_SWITCH_VEL register 0x1D to a value [pps] at which the mode change

should happen.

Set MS_OFFSET register 0x79 (only write access) to a value between 0 and 255.

Result:

Whenever the internal velocity |VACTUAL|< SPI_SWITCH_VEL, Voltage PWM mode is

activated automatically.

Whenever |VACTUAL| ≥ SPI_SWITCH_VEL, SPI mode is activated automatically. During

PWM mode the internal MSLUT value is modified by MS_OFFSET; in order to shift the

resulting voltage curve of the motor coils.

Observing the motor coil currents with current probes is the best method for

determining the required MS_OFFSET:

Triggering the SPE signal will gain the switching point.

At this point the current curves show a crack if no offset is assigned. This could

lead to step loss.

i The offset can attenuate this crack to overcome this step loss.

Switching

between SPI and

Voltage PWM

Modes

Determining

MS_OFFSET






MAIN MANUAL

14. dcStep Support for TMC26x or TMC2130

dcStep is an automatic commutation mode for stepper motor drivers. It allows to run the stepper

with its nominal velocity, which is generated by the internal ramp generator for as long as it can

cope with the motor load.

In case the motor becomes overloaded, it slows down to a lower velocity at which the motor can

still drive the load. This avoids that the stepper motor stalls, and enables the stepper motor to

drive heavy loads as fast as possible. Its higher torque - available at lower velocity – in combination

with dynamic torque (from its flywheel mass) compensates mechanical torque peaks without

feedback.

Dedicated dcStep Pins

Pin Name Pin Type Remarks

MP1 Input dcStep input signal.

MP2 Inout as Output dcStep output signal.

Table 52: Dedicated dcStep Pins

Dedicated dcStep Registers


GENERAL_CONF 0x00 RW Bit22:21: dc_step_mode.

DC_VEL 0x60 W Velocity at which dcStep starts (fullstep); 24 bit.

DC_TIME 0x61(7:0) W Upper PWM on time limit for internal dcStep calculation.

DC_SG 0x61(15:8) W Maximum PWM on time for step loss detection

(multiplied by 16!).

DC_BLKTIME 0x61(31:16) W dcStep blank time after fullstep release.

DC_LSPTM 0x62 W dcStep low speed timer; 32 bit.

Table 53: Dedicated dcStep Registers

Turn page for more information on how dcStep increases the usable motor torque.






MAIN MANUAL

In a classical application, the operation area is limited by the maximum torque

required at maximum application velocity. A safety margin of up to 50% torque is

required, in order to compensate unforeseen load peaks, torque loss due to

resonance, and aging of mechanical components. dcStep makes it possible to use

the available motor torque to its fullest. Even higher short-time dynamic loads can

be overcome by using motor and application flywheel mass without the danger of

causing a motor stall. With dcStep, the nominal application load can be extended to

a higher torque, which is only limited by the safety margin near the holding torque

area (which is the highest torque the motor can provide). Additionally, maximum

application velocity can be increased up to conditional maximum motor velocity.

Figure 56: dcStep extended Application Operation Area

Turn page for more information about enabling dcStep forTMC26x stepper motor drivers.

Classic operation area

with safety margin

torque

velocity [RPM]

dcStep operation - no step loss can occur

additional flywheel mass torque reserve

microstep

operation

0

MNOM1

MMAX

DC_V

EL

VM

AX

MNOM: Nominal torque required by application

MMAX: Motor pull-out torque at v=0

application area

max. motor torquesafety margin

dcStep extended

Safety margin: Classical application operation area is limited by a certain

percentage of motor pull-out torque

MNOM2

dcStep increases

usable Motor

Torque






MAIN MANUAL

If connected to TMC26x drivers, TMC4361 must generate the dcStep signal

internally; despite particular motor settings dcStep requires only very few settings,

which could be tunneled via SPI through TMC4361.

dcStep directly feeds motor motion back to the ramp generator so that it becomes

seamlessly integrated into the motion ramp; even if the motor becomes overloaded

with respect to the target velocity. In order to set up the hardware correctly the

SG_TST output pin of TMC26x must be connected to the MP1 input pin of TMC4361;

and the TST_MODE pin of TMC26x must be connected to VCCIO.

i Please also refer to the corresponding TMC26x manuals for the correct motor

driver settings.

In order to set up a TMC26x dcStep configuration, do as follows:

PRECONDITION: TMC26X MOTOR DRIVER SETUP:

Set CHM = 1 (constant tOFF-Chopper).

Set HSTRT = 0 (slow decay only).

Set SGTO = 1 and SGT1 = 1 (on_state_xy as test signal output).

Set TST = 1 (Test mode on).

Action:

Set spi_output_format = b’1011 or b’1010 (automatic TMC26x setting).

Set the upper PWM time DC_TIME slightly higher than the driver effective blank

time TBL (register 0x61).

Set DC_BLKTIME [clock cycles] when no comparison should happen after a fullstep

release (register 0x61).

Set DC_SG [clock cycles · 16] as PWM ON-time for step loss detection (0x61).

Set dcstep_mode = b’01 (GENERAL_CONF register 0x00).

Result:

The internal dcStep at MP1 input signal approves further step generation in case the

input step signals are smaller than the DC_TIME step length in clock cycles.

NOTE:

Even though dcStep is able to decelerate the motor during overload, stalls can

occur due to certain negative influences, such as:

The motor may stall and lose steps, e.g. because deceleration drops below

obligational minimum velocity. In order to safely detect a step loss and avoid

restarting of the motor, the stop on stall can be enabled

(see section 10.4.4 (page 104).

Concerning dcStep operation with TMC26x: the stall bit from the driver status

is substituted by the dcStep stall detection bit.

Therefore, the first step at MP1 input directly after a step release is checked

against the DC_SG value, which is the maximum PWM ON-time. In case the

signal step length is smaller than DC_SG, a stall has occurred.

DC_BLKTIME specifies the number of clock cycles after a fullstep release in

case nothing must be compared; because fragmented steps could occur at

MP1. The first step after release that is checked is the first step after blank

time. The switch to fullstep drive is performed automatically, as explained in

section 10.6.4 and 10.6.5, page 111).

Enabling dcStep

for TMC26x

Stepper Motor

Drivers






MAIN MANUAL

dcStep requires a minimum operation velocity DC_VEL [pps]. DC_VEL must be set to

the lowest operating velocity at which dcStep provides a reliable detection of motor

operation. In case an overload appears, an internal dcStep signal is generated that

pauses internal step generation. Because dcStep operates the motor in fullstep

mode, a minimum fullstep frequency fFS can be assigned.

Therefore, a dcStep low speed timer must be assigned to achieve the following

minimum fullstep frequency:

fFS = fCLK / DC_LSPTM.

In order to set up a minimum dcStep velocity, do as follows:

Action:

Set the low speed timer DC_LSPTM register 0x62, as explained above.

Set DC_VEL register 0x60 as threshold velocity value [pps] at which dcStep is

activated.

Result:

Whenever the internal velocity |VACTUAL| > DC_VEL, dcStep is activated,

if enabled.

Figure 57: Velocity Profile with Impact through Overload Situation

Turn Page for important information about the chopper settings for microstep and fullstep/dcStep mode.

v(t)

t

dcStep active

DC_VEL

0

VBREAK

VMAX

AMAX DMAX

DFIN

ALA

STA

RT

Nominal ramp profile Ramp profile with torque overload and same target position

overload

Setup: Minimum

dcStep Velocity






MAIN MANUAL

Different chopper settings for microstep and fullstep/dcStep mode of TMC26x

stepper driver can be transferred automatically during motion.

Switching between dcStep mode and microstep mode often requires different

chopper settings for TMC26x stepper motor drivers.

It is possible to automatically transfer cover datagrams to TMC26x (see Section

10.3.6, page 101). Thereby, it is possible to switch the chopper settings of TMC26x

rapidly, shortly before reaching the dcStep velocity.

NOTE:

It is recommended to use this feature because dcStep requires constant OFF-time

chopper settings; whereas driving with µSteps and a spreadCycle chopper provides

better driving characteristics.

In order to set up a TMC26x dcStep configuration, do as follows:

Action:

Set the SPI_SWITCH_VEL register 0x1D value a little bit smaller than the DC_VEL

register 0x60 value.

Fill in the COVER_LOW 0x6C register the chopper settings for spreadCycle chopper

below the DC_VEL.

Fill in the COVER_HIGH 0x6D register the chopper settings for a constant OFF-time

chopper during dcStep operation (fullstep mode).

Set automatic_cover = 1 (REFERENCE_CONF register 0x01).

Result:

In case dcStep mode is not activated – because |VACTUAL| < DC_VEL – the

spreadCycle chopper mode is activated, which is best suited for microstep

operation.

In case dcStep is activated, the more suited constant OFF-time chopper mode for

fullstep operation is activated.

Turn Page for more information on enabling dcStep for TMC2130 stepper motor

driver.

AREAS OF

SPECIAL

CONCERN

!






MAIN MANUAL

dcStep operation with TMC2130 is similar to a handshake procedure:

The MP1 input must be connected to the DCO output pin of TMC2130, whereas MP2

must be connected to the DCEN input pin of TMC2130.

In order to set up a TMC2130 dcStep configuration, do as follows:

The mandatory TMC2130 configuration MUST be executed with cover

datagrams, as follows:

i Please refer to the TMC2130 manual for correct settings pertaining to the

TMC2130 CHOPCONF and DCCTRL registers.

Action:

Set spi_output_format = b’1101 or b’1100 (automatic TMC2130 setting)

Set dcstep_mode = b’01 (GENERAL_CONF register 0x00).

Result:

In case VACTUAL ≥ DC_VEL, MP2 output is set to high voltage level to indicate that

dcStep can be activated.

TMC2130 will wait for the next fullstep position to switch to dcStep operation. The

dcStep signal is provided by the TMC2130 at DCO output pin.

TMC4361 is continually providing microsteps even though dcStep is enabled and

activated. TMC2130 auto-generates the dcStep behavior internally.

Because dcStep operates the motor in fullstep mode, a minimum fullstep frequency

fFS can be assigned. Therefore, a dcStep low speed timer must be assigned to achieve

the following minimum fullstep frequency:

fFS = fCLK / DC_LSPTM.

In order to set up a minimum dcStep fullstep frequency, do as follows:

Action:

Set DC_LSPTM register 0x62.

Result:

After DC_LSPTM clock cycles expires – without lifting the internal dcStep signal – a

step is enforced when dcStep is enabled.

Enabling dcStep

for TMC2130

Stepper Motor

Drivers

Set up minimum

dcStep/Fullstep

Frequency






MAIN MANUAL

15. Decoder Unit: Connecting ABN, SSI, or SPI Encoders correctly

TMC4361 is equipped with an encoder input interface for incremental ABN encoders, absolute SSI

or SPI encoders. This chapter provides basic setup information for correct analysis of connected

encoder signals.

Decoder and Closed-Loop Pins


A_SCLK Input or Output A signal of ABN encoder or

Serial Clock output for absolute SSI, or SPI encoders.

ANEG_NSCLK Input or Output

Negated A signal of ABN encoder or

Negated Serial Clock output for SSI encoder or

Low active Chip Select signal for SPI encoders.

B_SDI Input B signal of ABN encoder or

Serial Data Input of SSI, or SPI encoders.

BNEG_NSDI Input or Output

Negated B signal of ABN encoder or

Negated Serial Data Input of SSI encoders or

Serial Data Output of SPI encoder.

N Input N signal of ABN encoder.

NNEG Input Negated N signal of ABN encoder.

Table 54: Dedicated Decoder Unit Pins

Decoder Unit and Closed-Loop Registers

Register Name Register address Remarks

GENERAL_CONF 0x00 RW Bit11:10: serial_enc_in_mode, Bit12: diff_enc_in_disable

INPUT_FILT_CONF 0x03 RW Input filter configuration (SR_ENC_IN, FILT_L_ENC_IN).

ENC_IN_CONF 0x07 RW Encoder configuration register.

ENC_IN_DATA 0x08 RW Serial encoder input data structure.

STEP_CONF 0x0A RW Motor configurations.

ENC_POS 0x50 RW Current absolute encoder position in microsteps.

ENC_LATCH 0x51 R Latched absolute encoder position.

ENC_POS_DEV 0x52 R Deviation between XACTUAL and ENC_POS.

ENC_CONST 0x54 R Internally calculated encoder constant.

Encoder Register Set 0x51…58

0x62…63 W Encoder configuration parameter.

Encoder velocity 0x65

0x66 R

Current encoder velocity (unsigned).

Current filtered encoder velocity (signed).

ADDR_TO_ENC

DATA_TO_ENC

0x68

0x69 W Serial encoder request data.

ADDR_FROM_ENC

DATA_FROM_ENC

0x6A

0x6B R Serial encoder request data response.

Encoder

compensation 0x7D W Encoder compensation register set.

Table 55: Dedicated Decoder Unit Registers






MAIN MANUAL

The encoder interface consists of six pins that can be connected with different

encoder types. Depending on the encoder type, the pins serve as inputs or as

outputs. If inputs are assigned, the incoming signals can be filtered, as explained in

chapter 4, page 20. Consequently, SR_ENC_IN and FILT_L_ENC_IN must be set

accordingly. In the following, three options are presented to select a connected

encoder properly.

OPTION 1: INCREMENTAL ABN ENCODERS

In order to set up a connected incremental ABN encoder, do as follows:

Action:

Set serial_enc_in_mode = b’00 (GENERAL_CONF register 0x00).

Result:

An incremental ABN encoder is selected.

OPTION 2: ABSOLUTE SSI ENCODERS

In order to set up a connected absolute SSI encoder, do as follows:

Action:


Result:

An absolute SSI encoder is selected.

i In order to avoid an erroneous status of the connected absolute SSI encoder, a

proper configuration is necessary prior to enabling; as described further down

below on the subsequent pages: see section 15.4. on page 150.

OPTION 3: ABSOLUTE SPI ENCODERS

In order to set up a connected absolute SPI encoder:

Action:


Result:

An absolute SPI encoder is selected.

i In order to avoid an erroneous status of the connected absolute SPI encoder, a

proper configuration is necessary prior to enabling; as described further down

below on the subsequent pages: see section 15.4. on page 150.

Turn page for encoder pin assignment overview.

Selecting the

correct Encoder






MAIN MANUAL

If incremental ABN or absolute SSI encoders are selected, the dedicated encoder

signals are treated as digital differential signals per default. For internally displaying

a valid input level, the levels of a dedicated pair must be digitally inversed.

i No analog differential circuit is available.

In order to disable the digital differential input signals, do as follows:

Action:

Set diff_enc_in_disable = 1 (GENERAL_CONF register 0x00).

Result:

Dedicated encoder signals are treated as single signals and every negated pin is

ignored.

i Concerning absolute SPI encoders, this is done automatically.

Pin Assignment based on selected Encoder Setup

Pin

No. Pin Name

Incremental ABN Absolute SSI Absolute SPI

Differential Single-ended Differential Single-ended Single-ended

40 A_SCLK A A SCLK SCLK SCLK

1 ANEG_NSCLK ¬A - ¬SCLK - CS

10 B_SDI B B SDI SDI SDI

11 BNEG_NSDI ¬B - ¬SDI - SDO

21 N N N - - -

22 NNEG ¬N - - - -

Table 56: Pin Assignment based on selected Encoder Setup

In order to easily align the encoder direction with the motor direction it is possible

to invert the encoder direction by setting one switch.

In order to invert the encoder direction, do as follows:

Action:

Set invert_direction = 1 (ENC_CONF register 0x07).

Result:

The calculation of the in external position ENC_POS is inverted, turning increment to

decrement and vice versa.

Disabling digital

differential

Encoder Signals

Inverting of

Encoder

Direction






MAIN MANUAL

If the encoder is installed correctly, the encoder values form a circle for one motor

revolution. Thus, the deviation ENC_POS_DEV between real position ENC_POS und

internal position XACTUAL forms a constant function over the whole motor

revolution.

Consequently, the resulting form of a deficiently installed encoder is oval-shaped.

This system failure results in a new function of ENC_POS_DEV that is similar to a sine

function. In Figure 58 A below, the position deviation is shown as function of one

motor revolution, which comprises 51200 microsteps.

TMC4361 provides an option to compensate this kind of misalignment by adding a

triangular shape function that counteracts the system error. This can improve the

encoder value evaluation significantly. Per default, this function is constant at 0.

In order to setup the triangular compensation function, do as follows:

Action:

Set proper ENC_COMP_XOFFSET register 0x7D (15:0).

Set proper ENC_COMP_YOFFSET register 0x7D (23:16).

Set proper ENC_COMP_AMPL register 0x7D (31:24).

Result:

ENC_COMP_XOFFSET is 16-bit register which represents a numeral figure between 0

and 1. The resulting offset on the abscissa is calculated by:

XOFF_LOW = ENC_COMP_XOFFSET · microsteps/rev / 65536.

A triangular function is generated, which has its lowest point at

(XOFF_LOW; ENC_COMP_YOFFSET).

The peak is shifted at a distance of half a revolution. The peak coordinate

(XOFF_PEAK;YOFF_PEAK) is calculated as follows:

XOFF_PEAK = ENC_COMP_XOFFSET · microsteps/rev / 65536 + microsteps/rev / 2.

YOFF_PEAK = ENC_COMP_YOFFSET + ENC_COMP_AMPL.

In Figure 58 A, the red line illustrates this compensation function.

Internally, the triangular function is added to the ENC_POS value. As a result, the

position deviation is harmonized as a function of the motor revolution; which can

be seen in Figure 58 B.

Figure 58: Triangular Function that compensates Encoder Misalignments

-8

-6

-4

-2

0

2

4

6

8

0 10000 20000 30000 40000 50000

po

siti

on

de

viat

ion

µsteps

position deviation

compensation function

YOFF

AMPL

XOFF

A)

-8

-6

-4

-2

0

2

4

6

8

0 10000 20000 30000 40000 50000

po

siti

on

de

viat

ion

µsteps

position deviation

B)

Encoder

Misalignment

Compensation






MAIN MANUAL

Incremental ABN Encoder Settings

Incremental ABN encoders increment or decrement the external position counter register

ENC_POS 0x50. This is based on A- and B-signal level transitions.

The external position register ENC_POS 0x50 is based on internal microsteps. Thus,

every AB transition is transferred to microsteps by a fixed constant value. TMC4361

is able to calculated this constant automatically.

In order to configure the incremental ABN encoder constant automatically, do

as follows:

Action:

Set fullstep resolution of the motor in FS_PER_REV (STEP_CONF register 0x0A).

Set microstep resolution MSTEP_PER_FS (STEP_CONF register 0x0A).

Set encoder resolution – the number of AB transitions during one revolution - in

register ENC_IN_RES 0x54 (write access).

Result:

The encoder constant value ENC_CONST (readable at register 0x54) is calculated as

follows:

ENC_CONST = MSTEP_PER_FS · FS_PER_REV / ENC_IN_RES

This constant is the number of microsteps through which ENC_POS is incremented

or decremented by one AB transition.

i ENC_CONST consists of 15 digits and 16 decimal places.

i In case 16 bits are not sufficient for a binary representation of the decimal

places, TMC4361 tries to match them to a multiple of 10000 within these 16

decimal places. Thereby, a perfect match can be achieved in case decimal

representation is preferred to a binary one.

i In case the decimal representation also does not fit completely, the type of the

decimal places of ENC_CONST can be selected manually with ENC_IN_CONF (0).

Set ENC_IN_CONF (0) to 0 for binary representation; or set it to 1 for the decimal

one. Keep in mind that with this approach ENC_POS can slightly differ from the

real position; especially the further away the position moves from 0.

For some applications it can be useful to define the encoder constant value, which

in this case does not correspond to the number of microsteps per revolution; e.g. if

the encoder is not mounted directly on the motor.

In order to configure the incremental ABN encoder constant manually, do as

follows:

Action:

Set ENC_IN_RES(31) =1.

Set ENC_IN_CONF(0) to 0 for a binary or to 1 for a decimal representation as

explained in the previous section.

Set required encoder resolution in ENC_IN_RES (30:0) register 0x54.

Result:

ENC_CONST consists of 15 digits and 16 decimal places. The constant is the number

of microsteps by which ENC_POS is incremented or decremented by one

AB transition.

Automatic

Constant

Configuration of

incremental ABN

Encoder

Manual Constant

Configuration of

Incremental ABN

Encoder






MAIN MANUAL

Incremental Encoders: Index Signal: N resp. Z

The index signal (N or Z channel) represents a recurrence of the same position in one motor

encoder revolution. TMC4361 makes use of this signal to clear the external position counter, or to

take a snapshot of the external or internal position, which then can be used to refine the home

position more precisely.

Figure 59: Outline of ABN signals of an incremental Encoder

Per default, the index channel is configured low active.

In order to set up high active polarity for the index channel, do as follows:

Action:

Set pol_n =1 (register ENC_CONF 0x07).

Result:

The index channel is high active.

The active polarity of the index channel can be used to clear the external position

counter or to take a snapshot of the external or internal position. Therefore,

N event is created internally. N event is based on the active polarity of the index

channel. As addition, they can also be based on the polarities of the

A and B channels.

Four active polarity configuration options for the index channel are available, which

are presented below. Configuration choice depends on customer-specific design

wishes.

In order to set up the index channel sensitivity based on active polarity, do as

follows:

Action:

Set n_chan_sensitivity (register ENC_CONF 0x07) to:

Index Channel Sensitivity

n_chan_sensitivity Result:

b’00 N event is active in case index voltage level fits pol_n.

b’01 N event is triggered when the index channel switches to

active polarity.

b’10 N event is triggered when the index channel switches to

inactive polarity.

b’11 N event is triggered at both edges when the index

channel switches to either active or inactive polarity.

Table 57: Index Channel Sensitivity

A

B

t

Position -4 -3 -2 -1 0 5 64321 7

N

Setup of Active

Polarity for

Index Channel

Configuration of

N Event

Index Channel

Sensitivity






MAIN MANUAL

It can be useful to specify A and B channel signal polarities for N event. Per default,

the polarities of both signal lines are set to 0 (low active).

In order to set up A channel polarity to high active for N event, do as follows:

Action:

Set pol_a_for_n = 1 (ENC_CONF register 0x07).

Result:

Now, A channel signal polarity for N event is high active.

In order to set up B channel polarity to high active for N event, do as follows:

Action:

Set pol_b_for_n = 1 (ENC_CONF register 0x07).

Result:

Now, B channel signal polarity for N event is high active.

In case A and B channel polarities do not have an influence on N event, both A and

B channel polarity signals can be ignored.

In order to ignore A and B channel polarities, do as follows:

Action:

Set ignore_ab = 1 (ENC_CONF register 0x07).

Result:

Now, the A and B channel signal polarities have no influence on N event.

N event can be used to clear the external position register ENC_POS 0x50. Two

choices are available: continous clearing and single clearing.

i Common practice is to clear to 0. However, TMC4361 offers the possibility to

clear to any single microstep count.

In order to set ENC_POS on N event to continuous clearing, do as follows:

Action:

Set ENC_RESET_VAL register 0x51 to the requested microstep position.

Set clr_latch_cont_on_n = 1 (ENC_CONF register 0x07).

Set clear_on_n = 1 (ENC_CONF register 0x07).

Result:

On every N event ENC_POS is set to ENC_RESET_VAL.


A and B Channel

Signal Polarities

for N Event

External Position

Counter ENC_POS

Clearing

ENC_POS

Continous

Clearing






MAIN MANUAL

In order to only clear ENC_POS for the next N event, do as follows:

Action:

Set ENC_RESET_VAL register 0x51 to the requested microstep position.


Set clr_latch_once_on_n = 1 (ENC_CONF register 0x07).

Set clear_on_n = 1 (ENC_CONF register 0x07).

Result:

When the next N event occurs, ENC_POS is set to ENC_RESET_VAL. After the particular

N event, clr_latch_once_on_n is automatically reset to 0.

N event can be used to latch external position register ENC_POS 0x50 to storage

register ENC_LATCH 0x51 (read access). Two choices are available: Continous latching

and single latching.

In order to continuously latch ENC_POS to ENC_LATCH on N event, do as follows:

Action:


Set latch_enc_on_n = 1 (ENC_CONF register 0x07).

Result:

On every N event ENC_POS register 0x50 is latched to ENC_LATCH register 0x51.

In order to only latch ENC_POS to ENC_LATCH for the next N event, do as follows:

Action:




Result:

When the next N event occurs, ENC_POS register 0x50 is latched to ENC_LATCH

register 0x51. After the particular N event, clr_latch_once_on_n is automatically reset

to 0.

For information on latching internal position turn page.

ENC_POS Single

Clearing

Latching

External Position

Continous

Encoder Latching

Single Encoder

Latching






MAIN MANUAL

N event can be used to latch internal position register X_ACTUAL 0x21 to storage

register X_LATCH 0x36 (read access). Two choices are available: Continous latching

and single latching.

In order to continuously latch X_ACTUAL to X_LATCH on N event, do as follows:

Action:



Set latch_x_on_n = 1 (ENC_CONF register 0x07).

Result:

On every N event X_ACTUAL register 0x21 is latched to X_LATCH register 0x36.

In order to only latch X_ACTUAL to X_LATCH for the next N event, do as follows:

Action:




Set latch_x_on_n = 1 (ENC_CONF register 0x07).

Result:

When the next N event occurs, X_ACTUAL register 0x21 is latched to X_LATCH register

0x36. After the particular N event, clr_latch_once_on_n is automatically reset to 0.

Latching Internal

Position

Continous

Latching

Single Latching






MAIN MANUAL

Absolute Encoder Settings

Serial encoders provide absolute encoder angle data in contrast to step transitions, which are

delivered from incremental encoders.

TMC4361 provides an external clock for the encoder in order to trigger serial data input,

TMC4361 offers singleturn and multiturn options for the serial data stream

interpretation. Per default, multiturn data is not enabled. In case multiturn data is

enabled, it is interpreted as unsigned count of revolutions.

In case multiturn encoder data is transmitted, do as follows:

Action:

Set multi_turn_in_en = 1 (ENC_CONF register 0x07).

OPTIONAL CONFIGURATION: Set multi_turn_in_signed = 1.

In case multiturn data is provided as signed count of encoder revolutions.

Result:

Data from connected encoders are interpreted as multiturn data.

In case only singleturn data is transmitted TMC4361 is able to permanently calculate

internally the number of encoder revolutions as if it where externally transferred

multiturn data.

In case singleturn encoder data is transmitted but internally multiturn data is

required, do as follows:

Action:

Set multi_turn_in_en = 0 (ENC_CONF register 0x07).

Set calc_multi_turn_behav = 1 (ENC_CONF register 0x07).

Result:

Data from connected singleturn encoders is internally transferred to multiturn data.

NOTE:

Multiturn calculations are only correct in case two consecutive singleturn data values

differ only by one step less than a half turn difference, or even less.

Singleturn or

Multiturn Data






MAIN MANUAL

The external position register ENC_POS 0x50 is based on internal microsteps. Thus,

every input data angle is transferred to microsteps by a fixed constant value.

TMC4361 is able to automatically calculate this constant.

In order to configure the absolute encoder constant automatically, do as

follows:

Action:

Set fullstep resolution of the motor in FS_PER_REV (STEP_CONF register 0x0A).

Set microstep resolution MSTEP_PER_FS (STEP_CONF register 0x0A).

Set encoder resolution in register ENC_IN_RES 0x54 (write access).

Result:

The encoder constant value ENC_CONST (readable at register 0x54) is calculated as

follows:

ENC_CONST = MSTEP_PER_FS · FS_PER_REV / ENC_IN_RES

The external position ENC_POS 0x50 is calculated by multiplying the constant with

the transmitted input angle.

i ENC_CONST consists of 15 digits and 16 decimal places.

i In contrast to incremental ABN encoders, ENC_CONST is always represented as

binary constant.

For some applications it can be useful to define the encoder constant value, which

in this case does not correspond to the number of microsteps per revolution;

e.g. if the encoder is not mounted directly on the motor.

In order to configure the absolute encoder constant manually, do as follows:

Action:

Set ENC_IN_RES (31) =1.

Set required encoder resolution in ENC_IN_RES (30:0) register 0x54.

Result:

ENC_CONST consists of 15 digits and 16 decimal places. The external position

ENC_POS 0x50 is calculated by multiplying the constant with the transmitted input

angle.

Automatic

Constant

Configuration of

Absolute

Encoder

Manual Constant

Configuration of

Incremental ABN

Encoder






MAIN MANUAL

Encoder Data must be maintained correctly. Consequently, certain settings must be

configured so that TMC4361 displays them as specified.

In order to configure absolute encoder data, do as follows:

Action:

Set SINGLE_TURN_RES (ENC_IN_DATA register 0x08) to the number of singleturn

data bits −1.

OPTION A1: IF MULTITURN DATA IS TRANSMITTED

Set MULTI_TURN_RES (ENC_IN_DATA register 0x08) to the number of multiturn

data bits −1.

OR OPTION A2: IF MULTITURN DATA IS NOT TRANSMITTED

Set MULTI_TURN_RES = 0 (ENC_IN_DATA register 0x08).

Set STATUS_BIT_CNT (ENC_IN_DATA register 0x08) to the number of status bits.

OPTION B1: IF STATUS FLAGS ARE ORDERED IN FRONT

Set left_aligned_data = 0 (ENC_IN_CONF register 0x07).

OR OPTION B2: IF STATUS FLAGS ARE ORDERED IN FRONT

Set left_aligned_data = 1 (ENC_IN_CONF register 0x07).

Result:

SINGLE_TURN_RES defines the most significant bit (MSB) of the angle data bits,

whereas MULTI_TURN_RES defines the MSB of the revolution counter bits. Up to three

status bits can be received. The number of transferred clock bits that are sent to the

encoder is calculated as follows:

#SCLK Cycles= (SINGLE_TURN_RES+1) + (MULTI_TURN_RES+1) + STATUS_BIT_CNT

Also, the order in which the status bits occur in one encoder data stream can be

configured. In Figure 59 on the next page, example setups are depicted.

NOTE:

In case more than three status bits or additional fill bits are sent from the encoder,

clock errors can occur because the number of transferred clock bits does not fit.

In order to prevent clock failures, MULTI_TURN_RES can be set to a higher value than

otherwise required; even if the encoder does not provide multiturn data. This can

result in erroneous multiturn data, which can be corrected by setting

multi_turn_in_en=0 in order to skip multiturn data automatically.

In order to compensate unavailable multiturn data make use of

calc_multi_turn_behav, as explained in section 15.4.1 on page 150.

Turn page for serial data output examples.

Absolute

Encoder Data

Setup






MAIN MANUAL

Figure 60:Serial Data Output: Four Examples

Key:

a) SINGLE_TURN_RES=6; MULTI_TURN_RES=4; STATUS_BIT_CNT=0; left_aligned_data=0

b) SINGLE_TURN_RES=6; MULTI_TURN_RES=0; STATUS_BIT_CNT=2; left_aligned_data=0

c) SINGLE_TURN_RES=5; MULTI_TURN_RES=4; STATUS_BIT_CNT=1; left_aligned_data=0

d) SINGLE_TURN_RES=4; MULTI_TURN_RES=2; STATUS_BIT_CNT=3; left_aligned_data=1

For some applications it can be useful to limit the difference between two

consecutive encoder data values; for instance, if encoder data lines are subject to

too much noise.

Per default, encoder data values can show a difference of 1/8th per encoder

revolution, only if the limitation is enabled. The difference can be configured to a

smaller value, if necessary.

In order to enable and configure encoder data variation limitation, do as

follows:

Action:

OPTIONAL: Set proper SER_ENC_VARIATION register 0x63 (7:0).

Set serial_enc_variation_limit =1 (ENC_IN_CONF register 0x07).

Result:

The encoder data value that is received subsequently must not exceed the previous

data more than:

Maximum tolerated deviation = SER_ENC_VARIATION / 256 · 1/8 · ENC_IN_RES.

In case the variation exceeds the above mentioned limit, the new data value is

rejected internally and the status flag SER_ENC_DATA_FAIL is raised.

i In case SER_ENC_VARIATION = 0, the limit is defined by 1/8 · ENC_IN_RES.

Serial data

outMSBM LSBM MSBS LSBS

Serial data

outSB1 SB0 MSBS LSBS

a) A1+B1:

Serial data

outSB0 MSBM LSBM MSBS LSBS

Serial data

outMSBM LSBM MSBS LSBS SB2 SB1 SB0

b) A2+B1:

c) A1+B1:

d) A1+B2:

Emitting Encoder

Data Variation






MAIN MANUAL

SSI Clock Generation

In order to receive encoder data from the absolute encoder, TMC4361 generates clock patterns

according to SSI standard. Data transfer is initiated by switching the clock line SCLK from high to

low level. The transfer starts with the next rising edge of SCLK. The number of emitted clock cycles

depends on the expected data width, as explained in section 15.4.4.

One clock cycle has a high and a low phase, which can be defined separately

according to internal clock cycles. Per default, sample points of serial data are set at

the falling edges of SCLK. Some encoders need more clock cycles – than are available

during the low clock phase – in order to prepare data for transfer. Also, due to long

wires, data transfer can take more time. To counteract the above mentioned issues,

the delay time SSI_IN_CLK_DELAY (default value equals 0) for compensation can be

specified in order to prolong the sampling start. Therefore, this delay configuration

can automatically generate more clock cycles.

After a data request – when all clock cycles have been emitted – the serial clock must

remain idle for a certain interval before the next request is automatically initiated.

This interval SER_PTIME can also be configured in internal clock cycles.

i According to SSI standard, select an interval that is longer than 21 µs.

In order to configure the SSI clock generation, do as follows:

Action:


data bits −1.


data bits −1 in case multiturn data is enabled and used.

Set STATUS_BIT_CNT (ENC_IN_DATA reg. 0x08) to the number of status bits.

Set proper left_aligned_data (ENC_IN_CONF register 0x07).

Set proper SER_CLK_IN_LOW (register 0x56) in internal clock cycles.

Set proper SER_CLK_IN_HIGH (register 0x56) in internal clock cycles.

OPTIONAL CONFIG: Set proper SSI_IN_CLK_DELAY (register 0x57) in internal clock

cycles.

OPTIONAL CONFIG: Set proper SER_PTIME (reg. 0x58) in internal clk cycles.

Finally, set serial_enc_in_mode = b’01.

Result:

TMC4361 emits serial clock streams at SCLK in order to receive absolute encoder

data at SDI. If SSI_IN_CLK_DELAY > 0, the SDI sample points are delayed (see figures

below). SER_PTIME defines the interval between two consecutive data requests.

i If differential encoder is selected, the negated clock emits at ¬SCLK; and ¬SDI is

also evaluated.

Figure 61: SSI: SSI_IN_CLK_DELAY=0

Figure 62: SSI: SSI_IN_CLK_DELAY>SER_CLK_IN_HIGH

LSBMSB

Sample points

Serial data in

Serial clock

out

SER_CLK_IN_HIGH SER_CLK_IN_LOW

MSB LSB---

Sample points

Serial data in

Serial clock

out

SSI_IN_CLK_DELAY

Configuration

Details






MAIN MANUAL

If safe transmission must be determined, it is possible to send a second request so

that the encoder repeats the same encoder data. Therefore, a second interval

SSI_WTIME must be defined.

i According to SSI standard, select an interval that is shorter than 19 µs.

In order to enable multicycle requests, do as follows:

Action:

Set ssi_multi_cycle_data =1 (ENC_IN_CONF register 0x07).

Set proper SSI_WTIME (register 0x57) in internal clk cycles.

Result:

After a data request – when all clock cycles have been emitted – the serial clock

remains idle for SSI_WTIME clock cycles. Afterwards, the second request is

automatically initiated to receive the same encoder data. If the second encoder data

differs from the first one, error flag MULTI_CYCLE_FAIL (register 0x0F) and error event

SER_ENC_DATA_FAIL (register 0x0E) is generated.

After the second data request, the next interval lasts SER_PTIME clock cycles to

request new encoder data.

Several but not all SSI encoders emit angle data, which is gray-encoded. TMC4361 is

able to decode this data automatically.

In order to enable gray-encoded angle data, do as follows:

Action:

Set ssi_gray_code_en =1 (ENC_IN_CONF register 0x07).

Result:

Encoder data is recognized as gray-encoded and thus also decoded accordingly.

Enabling

Multicycle

SSI request

Gray-encoded

SSI Data Streams






MAIN MANUAL

SPI Encoder Data Evaluation

SPI encoder interfaces typically consist of four signal lines. In addition to SSI encoder signal lines

(SCLK, MISO), a chip select line (CS) and a data input (MOSI) to the master is provided.

The number of bits per transfer is calculated automatically; based on proper

multi_turn_in_en, SINGLE_TURN_RES, MULTI_TURN_RES, and STATUS_BIT_CNT, as

explained in sections 15.4.1 (page 150) and 15.4.4 (page 152).

A typical SPI communication process responds to any SPI data transfer request when

the next transmission occurs. When TMC4361 receives an answer from the encoder,

it calculates ENC_POS immediately. The encoder slave does not send any data

without receiving a request first.

Therefore, TMC4361 always sends ADDR_TO_ENC value to request encoder data from

the SPI encoder slave device. The LSB of the serial data output is ADDR_TO_ENC (0).

Received encoder data is stored in ADDR_FROM_ENC. Thus, encoder values can be

verified and compared to microcontroller data later on.

i The clock generation works similarly to SSI clock generation, as described in

section 15.4.5 on page 154; based on proper SER_CLK_IN_HIGH, SER_CLK_IN_LOW,

and SER_PTIME.

In order to configure a basic SPI communication procedure, do as follows:

Action:


data bits −1.


data bits −1 in case multiturn data is enabled and used.

Set STATUS_BIT_CNT (ENC_IN_DATA register 0x08) to the number of status bits.

Set proper left_aligned_data (ENC_IN_CONF register 0x07).

Set correct SPI transfer mode that is described in the next section.

Set ADDR_TO_ENC register 0x68 to the specified SPI encoder address that

contains angle data.

Set proper SER_CLK_IN_LOW (register 0x56) in internal clock cycles.

Set proper SER_CLK_IN_HIGH (register 0x56) in internal clock cycles.

OPTIONAL CONFIG: Set proper SER_PTIME (register 0x58) in internal clk cycles.

Finally, set serial_enc_in_mode = b’11.

Result:

TMC4361 emits serial clock streams at SCLK in order to receive absolute encoder

data at SDI pin. The number of generated clock cycles depends on SINGLE_TURN_RES,

MULTI_TURN_RES, and STATUS_BIT_CNT.

Pin ANEG_NSCLK functions as negated chip select line for the SPI encoder that is

generated according to the serial clock and the selected SPI mode; which is

described in the next section.

Pin BNEG_NSDI is the MOSI line that transfers SPI datagrams to the SPI encoder.

Datagrams, which are transferred permanently to receive angle data, consists of

ADDR_TO_ENC data.

SER_PTIME defines the interval between two consecutive data requests.

Turn page for information on SPI mode selection.

SPI Encoder

Communication

Process






MAIN MANUAL

Per default, SPI encoder data transfer is managed in the same way as the

communication between microcontroller and TMC4361. TMC4361 supports all four

SPI modes with proper setting of switches spi_low_before_cs and spi_data_on_cs.

THE PROCESS IS AS FOLLOWS:

By setting spi_low_before_cs = 0, negated chip select line at ANEG_NSCLK is switched

to active low before the serial clock line SCLK switches.

By setting spi_low_before_cs = 1, negated chip select line at ANEG_NSCLK is switched

to active low after the serial clock line SCLK switches.

By setting spi_data_on_cs = 0, the first data bit at BNEG_NSDI is changed at the same

time as the first slope of the serial clock SCLK.

By setting spi_data_on_cs = 1, the first data bit at BNEG_NSDI is changed at the same

time as the negated chip select signal at BNEG_NSDI switches to active level.

In the table below, all four SPI modes are presented.

Per default, the delay between serial clock line and negated chip select line has a

time frame of either SER_CLK_IN_HIGH or SER_CLK_IN_LOW clock cycles, which

depends on the actual voltage level of the serial clock.

This particular interval does not always match the encoder behavior perfectly.

Therefore, both the first and last intervals between the serial clock line and the

negated chip select line can be specified separately in clock cycles at

SSI_IN_CLK_DELAY register 0x57.

Below, the SSI_IN_CLK_DELAY interval is highlighted in red in all four diagrams.

Supported SPI Encoder Data Transfer Modes

spi_low_before_cs:

spi_data_on_cs

0 1

0

1

Table 58: Supported SPI Encoder Data Transfer Modes

Sample points

(B_SDI)

Serial data out

(BNEG_NSDI)

Serial clock out

(A_SCLK)

Chip Select

(ANEG_NSCLK)

MSB LSB

Sample points

(B_SDI)

Serial data out

(BNEG_NSDI)

Serial clock out

(A_SCLK)

Chip Select

(ANEG_NSCLK)

MSB LSB

Sample points

(B_SDI)

Serial data out

(BNEG_NSDI)

Serial clock out

(A_SCLK)

Chip Select

(ANEG_NSCLK)

MSB LSB

Sample points

(B_SDI)

Serial data out

(BNEG_NSDI)

Serial clock out

(A_SCLK)

Chip Select

(ANEG_NSCLK)

MSB LSB

SPI Encoder

Mode Selection






MAIN MANUAL

SPI Encoder Configuration via TMC4361

Connected SPI encoder can be configured via TMC4361., which renders a connection between

microcontroller and encoder unnecessary.

A configuration request is sent using the settings of SERIAL_ADDR_BITS and

SERIAL_DATA_BITS, which define the transferring bit numbers.

In order to prepare SPI encoder configuration procedures, do as follows:

Action:

Set SERIAL_ADDR_BITS (ENC_IN_DATA register 0x08) to the number of address bits

of any SPI encoder configuration datagram.

Set SERIAL_DATA_BITS (ENC_IN_DATA register 0x08) to the number of data bits of

any SPI encoder configuration datagram.

Result:

In case configuration data is transferred to the SPI encoder, SERIAL_ADDR_BITS bits

and SERIAL_DATA_BITS bits are sent in two SPI configuration datagrams; exactly in this

order.

Because encoder data requests occur as an endless stream, it is necessary to

interrupt data requests when a configuration request occurs. Consequently, a

handshake behavior is implemented.

In order to transfer configuration data to the SPI encoder, do as follows:

Action:

Set DATA_TO_ENC register 0x69 to any value.

Set ADDR_TO_ENC register 0x68 to the configuration address of the SPI encoder.

Set DATA_TO_ENC register 0x69 to the configuration data of the SPI encoder.

Result:

The first DATA_TO_ENC access stops the repetitive encoder data request.

After the second DATA_TO_ENC access, three datagrams are sent to SPI encoder:

1. One address datagram is transmitted, which contains the ADDR_TO_ENC value.

Data that is received simultaneously with the request is not stored.

2. One data datagram is transmitted that contains the DATA_TO_ENC value. Data

that is received simultaneously with the request is stored in ADDR_FROM_ENC

register 0x6A because this is the response of the ADDR_TO_ENC request.

3. One no-operation datagram (NOP) is transmitted. Data that is received

simultaneously with the request is stored in DATA_FROM_ENC register 0x6B

because this is the response of the DATA_TO_ENC request.

In order to finalize the configuration procedure and continue with the encoder

data requests, do as follows:

Read out ADDR_FROM_ENC register 0x6A first.

Set ADDR_TO_ENC register 0x68 to the specified SPI encoder address that contains

angle data.

Obligatory at finalization: Read out DATA_FROM_ENC register 0x6B.

Result:

The configuration request data is read out. After DATA_FROM_ENC register readout,

the encoder data request stream of angle data continues.

SPI Encoder

Configuration

Communication

Process






MAIN MANUAL

16. Possible Regulation Options with Encoder Feedback

Beyond simple feedback monitoring, encoder feedback can be used for controlling motion

controller outputs in such a way that the internal actual position matches or follows the real

position ENC_POS. Two options are provided: PID control and closed-loop operation.

Closed-loop operation is preferable if the encoder is mounted directly on the back of the motor

and position data is evaluated precisely. PID control is preferable if the encoder is located on the

drive side with no fixed connection between motor and drive side; e.g. belt drives.

Closed-Loop and PID Registers

Register Name Register address Remarks

ENC_IN_CONF 0x07 RW Encoder configuration register: Closed-Loop

configuration switches.

CL_TR_TOLERANCE 0x51 R Absolute tolerated deviation to trigger

TARGET_REACHED during regulation.

ENC_POS_DEV 0x52 R Deviation between XACTUAL and ENC_POS.

Closed-Loop and PID

Register Set

0x59…5F

0x60…61 W Closed-Loop and PID configuration parameters.

Encoder velocity

configuration 0x63 W Encoder velocity filter configuration parameters.

Encoder velocity 0x65

0x66 R

Current encoder velocity (unsigned).

Current filtered encoder velocity (signed).

Table 59: Dedicated Closed-Loop and PID Registers

Based on the difference ENC_POS_DEV (readout at register 0x52) between internal

position XACTUAL and external position ENC_POS, a status flag ENC_FAIL_F and a

corresponding error event ENC_FAIL is generated automatically.

In order to set a tolerated position mismatch, do as follows:

Action:

Set ENC_POS_DEV_TOL register 0x53 to the maximum microstep value that

represents no mismatch failure.

Result:

In case |ENC_POS_DEV| ≤ ENC_POS_DEV_TOL, no encoder failure flag is set.

In case |ENC_POS_DEV| > ENC_POS_DEV_TOL, ENC_FAIL_Flag is set.

i At this point, the corresponding encoder event ENC_FAIL is also triggered.

In case one of the regulation modes is selected, TARGET_REACHED event and status

flag is only released when:

XACTUAL = XTARGET and |ENC_POS_DEV| ≤ CL_TR_TOLERANCE.

Consequently, CL_TR_TOLERANCE register 0x52 (only write access) is the maximal

tolerated position mismatch for target reached status.

Feedback

Monitoring

Target-Reached

during

Regulation






MAIN MANUAL

Based on a position difference error PID_E = XACTUAL – ENC_POS the

PID (proportional integral differential) controller calculates a signed velocity value

(vPID), which is used for minimizing the position error. During this process, TMC4361

moves with vPID until |PID_E| – PID_TOLERANCE ≤ 0 is reached and the position error

is removed.

vPID is calculated by:

𝑣𝑃𝐼𝐷 =𝑃𝐼𝐷_𝑃

256∙ 𝑃𝐼𝐷_𝐸 ∙ [

1

𝑠] +

𝑃𝐼𝐷_𝐼

256 ∙ ∫ 𝑃𝐼𝐷_𝐸 ∙ 𝑑𝑡

𝑡

0

+ 𝑃𝐼𝐷_𝐷 ∙ 𝑃𝐼𝐷_𝐸 ∙𝑑

𝑑𝑡


256∙ 𝑃𝐼𝐷_𝐸 ∙ [

1

𝑠] +

𝑃𝐼𝐷_𝐼

256 ∙ 𝑃𝐼𝐷_𝐼𝑆𝑈𝑀 + 𝑃𝐼𝐷_𝐷 ∙ 𝑃𝐼𝐷_𝐸 ∙

𝑑

𝑑𝑡


256∙ 𝑃𝐼𝐷_𝐸 ∙ [

1

𝑠] +

𝑃𝐼𝐷_𝐼

256 ∙ 𝑃𝐼𝐷_𝐸 ∙

𝑓𝐶𝐿𝐾128

+ 𝑃𝐼𝐷_𝐷 ∙ 𝑃𝐼𝐷_𝐸 ∙𝑑

𝑑𝑡

Key:

PID_P = proportional term; PID_I = integral term; PID_D = derivate term

The following parameters can be read out during PID operation.

Actual PID output velocity.

Actual PID position deviation between XACTUAL and ENC_POS.

Actual PID integrator sum (update frequency: fCLK/128), which is calculated by:

PID_ISUM=PID_E · fCLK /128

Turn page for information on configuration of PID regulation.

PID-based

Control of

XACTUAL

PID Readout

Parameters

PID_VEL 0x5A

PID_E 0x5D

PID_ISUM 0x5B






MAIN MANUAL

In order to set parameters and clipping values for PID regulation correctly, consider

the following details:

Large velocity variations are avoided by limiting vPID value with PID_DV_CLIP (register

0x5E). This clipping parameter limits both vPID and PID_VEL.

The error sum PID_ISUM (read out at 0x5B) is generated by the integral term.

PID_ISUM is limited by setting PID_I_CLIP register 0x5D.

i The maximum value of PID_I_CLIP must meet the condition

PID_I_CLIP ≤ PID_DV_CLIP / PID_I.

i If the error sum PID_ISUM is not clipped, it is increased with each time step by

PID_I · PID_E. This continues as long as the motor does not follow.

Time scaling for deviation (with respect to error correction periods) is controlled by

PID_D_CLKDIV register.

i During error correction, fixed clock frequency fPID_INTEGRAL is valid:

fPID_INTEGRAL[Hz] = fCLK[Hz] / 128

The internal velocity VEL_ACT_PID alters actual ramp velocity VACTUAL. Two settings

are provided:

In case regulation_modus = b’11, VACTUAL is assigned as pulse generator base value

and VEL_ACT_PID is calculated by VEL_ACT_PID = VACTUAL + vPID.

In case regulation_modus = b’10, zero is assigned as pulse generator base value. Now,

VEL_ACT_PID = vPID is valid.

TMC4361 provides the programmable hysteresis PID_TOLERANCE for target position

stabilization; which avoids oscillations through error correction in case XACTUAL is

close to the real mechanical position.

The PID controller of TMC4361 is programmable up to approximate 100 kHz update

rate (at fCLK = 16 MHz). This high speed update rate qualifies PID regulation for

motion stabilization.

Now that PID control parameters and clipping values are configured, as explained

above, PID regulation can be enabled. Two options can be selected.

In order to enable PID control, do as follows:

Action:

OPTION 1: BASE PULSE GENERATOR VELOCITY = 0

Set regulation_modus = b’10 (ENC_IN_CONF register 0x07).

OPTION 2: BASE PULSE GENERATOR VELOCITY = VACTUAL


Result:

PID regulation is enabled.

NOTE

Detailed knowledge of a particular application (including dynamics of mechanics) is

necessary for PID controller parameterization.

PID Control

Parameters and

Clipping Values

PID_DV_CLIP 0x5E

PID_I_CLIP

0x5D (14:0)

PID_D_CLKDIV

0x5D (23:16)

VEL_ACT_PID

PID_TOLERANCE

0x5F

Enabling PID

Regulation






MAIN MANUAL

Closed-Loop Operation

The closed-loop unit of TMC4361 directly modifies output currents and Step/Dir outputs of the

internal step generator; which is dependent on the feedback data. The 2-phase closed-loop control

of TMC4361 follows a different approach than field-oriented control (FOC); which is similar to PID

control cascades. The ramp generator, which assigns target and velocity, is independent of

position control (commutation angle control); which is also independent of current control. Closed-

loop operation can only be used in combination with 256 microsteps per fullstep.

Closed-loop does not control current values via the internal step generator. The

currents values at the SPI output and the Step/Dir outputs are verified using the

evaluated difference between internal position XACTUAL and external position

ENC_POS; considering the calibrated offset parameter CL_OFFSET.

In order to set parameters and clipping values for closed-loop regulation correctly,

consider the following details:

This register contains the basic offset value between internal and external position

during calibration process, which is necessary for closed-loop operation, and offers

read-write access. The write access can be used if a defined fixed offset value is

preferred, which is verified beforehand.

The continuously updated parameter ENC_POS_DEV displays the deviation between

XACTUAL and ENC_POS; considering CL_OFFSET.

CL_BETA is the maximum commutation angle that is used to compensate an

evaluated deviation ENC_POS_DEV. In case the deviation reaches CL_BETA value, the

commutation angle remains stable at this value to follow the overload. Also, CL_MAX

event is triggered at this point.

This parameter is set to select the tolerance range for position deviation. In case

|ENC_POS_DEV| ≤ CL_TOLERANCE, CL_FIT_F lag becomes set.

In case a mismatch between internal and external position occurs, CL_FIT event is

triggered to signify when the mismatch is removed.

CL_DELTA_P is a proportional controller that compensates a detected position

deviation between internal and external position. See also Figure 63, page 163.

In case |ENC_POS_DEV| ≤ CL_TOLERANCE, CL_DELTA_P is automatically set to 1.0.

In case |ENC_POS_DEV| > CL_TOLERANCE, the closed-loop unit of TMC4361

multiplies ENC_POS_DEV with CL_DELTA_P and adds the resulting value to the current

ENC_POS. Thus, a current commutation angle for higher stiffness position

maintenance, which is clipped at CL_BETA, is calculated.

i CL_DELTA_P consists of 24 bits. The last 16 bits represent decimal places. The

final proportional term is thus calculated by: pPID = CL_DELTA_P / 65536.

i Therefore, the higher pPID the faster the reaction on position deviations.

NOTE:

A high pPID term can lead to oscillations that must be avoided.

In case, one absolute encoder is connected, this value represents the delay time in

numbers of clock cycles between two consecutive regulation cycles. It is

recommended to adjust this value to the regulation cycle; which is either equal or

slower than the encoder request rate. In case incremental ABN encoder is selected,

this value is automatically set to fetch the fastest possible regulation rate; which in

most cases are five clock cycles.

Basic

Closed-Loop

Parameters

CL_OFFSET 0x59

ENC_POS_DEV

0x52

CL_BETA

0x1C (8:0)

CL_TOLERANCE

0x5F (7:0)

CL_DELTA_P 0x5C

CL_CYCLE 0x63

(31:16)






MAIN MANUAL

ENC_POS_DEV [µSteps]

New output angle

ENC_POS+45°

(+128 µSteps)

ENC_POS+90°

(+256 µSteps)

ENC_POS-90°

(-256 µSteps)

ENC_POS-45°

(-128 µSteps)

128

(45°)

256

(90°)

384

(135°)

-128

(-45°)

-256

(-90°)

-384

(-135°)

pPID = 1pPID = 1

pPID = 2

pPID = 2

pPID = 4

pPID = 4

0°

–CL_TOLERANCE

CL_TOLERANCE

CL_BETA

–CL_BETA

Figure 63: Calculation of the Output Angle with appropriate CL_DELTA_P

Now that basic closed-loop control parameters are configured, as explained above,

closed-loop regulation can be enabled.

i The presented calibration process is very basic. Refer to the closed-loop

Application Note for detailed calibration process information.

In order to enable and calibrate closed-loop control, do as follows:

PRECONDITION: SET TO BEST POSSIBLE MAXIMUM CURRENT SCALING

PROCEED WITH: OPTION 1: CL_OFFSET IS GENERATED DURING CALIBRATION

Action:

Set MSTEPS_PER_FS = 0 (STEP_CONF register 0x0A) [256 microsteps per fullstep].

Move to any fullstep position (MSCNT mod 128 = 0).


Set cl_caclibration_en =1 (ENC_IN_CONF register 0x07).

Wait for a defined time span (system settle down).

Set cl_caclibration_en =0 (ENC_IN_CONF register 0x07).

Result:

Closed-loop operation is enabled with basic calibration. CL_OFFSET is set to position

mismatch during calibration process.

OR PROCEED WITH OPTION 2: CL_OFFSET IS USED FOR CALIBRATION

In case CL_OFFSET was saved and no position loss has occurred while closed-loop

operation was disabled, it can be used to replace the calibration process.

Action:

Set MSTEPS_PER_FS = 0 (STEP_CONF register 0x0A) [256 microsteps per fullstep].


Set CL_OFFSET to any preferred microstep value.

Result:

Closed-loop operation is enabled.

Enabling and

calibrating

Closed-Loop

Operation






MAIN MANUAL

In order to limit catch-up velocities in case a disturbance of regular motor motion

must be compensated, the following parameters can be configured accordingly:

i Refer to section 16.2. on page 160 for more information about PI regulation of

the maximum velocity because it uses the same PI regulator like the position

PID regulator. The base velocity is the actual ramp velocity VACTUAL.

P parameter of the PI regulator, which controls the maximum velocity.

I parameter of the PI regulator, which controls the maximum velocity.

PID_DV_CLIP can be set in order to avoid large velocity variations; and also to limit the

maximum velocity deviation above the maximum velocity VMAX.

This parameter is used together with PID_DV_CLIP in order to limit the velocity for

error compensation. The error sum PID_ISUM is generated by the integral term. In

case this error sum must be limited, set PID_I_CLIP.

It is advisable to set the maximum value of PID_I_CLIP to:

PID_I_CLIP ≤ PID_DV_CLIP / PID_I.

i In case the error sum PID_ISUM is not clipped, it is increased with each time step

by PID_I · PID_E. This continues as long as the motor does not follow.

Now that PI control parameters and clipping values are configured, as explained

above, limiting catch-up velocities can be enabled.

In order to enable limitation of closed-loop catch-up velocity, do as follows:

Action:

Set cl_vlimit_en = 1 (ENC_IN_CONF register 0x07).

Result:

Closed-loop catch-up velocity is limited according to the configured parameters.

NOTE:

A higher motor velocity than specified VMAX ( for negative velocity: -VMAX) is possible

if the following conditions are met:

Closed-loop operation is enabled.

Closed-loop catch-up velocity is not enabled, or is enabled with

PID_DV_CLIP > 0; and CL_VMAX_CALC_P and CL_VMAX_CALC_I are higher than

0.

ENC_POS_DEV > CL_TOLERANCE resp. ENC_POS_DEV < CL_TOLERANCE.

In case the internal ramp has stopped, and the position mismatch still needs

to be corrected, the base velocity for catch-up velocity limitation is zero.

The mismatch correction ramp is a linear deceleration ramp, independent of the

specified ramp profile. This occurs because the catch-up velocity is regulated via PI

regulation, as explained above.

Thus, this final ramp for error compensation is a function of both ENC_POS_DEV and

the PI control parameters.

Turn page for information on closed-loop velocity mode.

Limiting

Closed-Loop

Catch-Up

Velocity

CL_VMAX_CALC_P

0x5A

CL_VMAX_CALC_I

0x5B

PID_DV_CLIP

0x5E

PID_I_CLIP 0x5D

Enabling the

Limitation of the

Catch-Up

Velocity

AREAS OF

SPECIAL

CONCERN

!






MAIN MANUAL

Some applications only require maintaining a specified velocity value during closed-

loop behavior, regardless of position mismatches. TMC4361 also provides this

option.

NOTE:

The closed-loop velocity mode is set independent of the internal ramp operation

mode (velocity or positioning mode).

In order to enable and calibrate closed-loop control, do as follows:

Action:

Set the catch-up velocity parameters, as explained in detail in section 16.3.3, page

164.

Set cl_vlimit_en = 1 (ENC_IN_CONF register 0x07).

Set cl_velocity_mode_en = 1 (ENC_IN_CONF register 0x07).

Result:

Closed-loop operation velocity mode is enabled.

In case position mismatch |ENC_POS_DEV| exceeds 768 microsteps, internal position

counter XACTUAL is set automatically to ENC_POS ± 768 to limit the position

mismatch.

Thus, closed-loop operation maintains the specified velocity value VMAX.

i A higher motor velocity than specified VMAX (for negative velocity: −VMAX ) is

possible if PID_DV_CLIP > 0.

Enabling Closed-

Loop Velocity

Mode






MAIN MANUAL

Closed-loop Scaling

In order to save energy, current scaling can be adjusted according to actual load during closed-

loop operation.

Closed-loop scaling slightly alters the use of the scaling register while remaining

consistent in its use of internal scaling and the transmission to the stepper drivers:

1. Closed-loop scaling uses the same scaling register that is also used for

open-loop configuration, as explained in chapter 11, page 120. However, the

specified values that are used – and thus are also named – differently.

2. Internal scaling of MSLUT current values and transfer of these values to the

motor stepper drivers function exactly in the same way as explained in

chapter 10, page 88.

In order to configure and enable closed-loop scaling, do as follows:

Action:

Set proper CL_IMIN (SCALE_VALUES register 0x06).

Set proper CL_IMAX (SCALE_VALUES register 0x06).

Set proper CL_START_UP (SCALE_VALUES register 0x06).

Set SCALE_VALUES (31:24) to 0.


Result:

As soon as closed-loop scaling is enabled, all other open-loop scaling options are

automatically disabled. The following scaling situations are possible:

1. In case |ENC_POS_DEV| ≤ CL_START_UP, current values are scaled with CL_IMIN.

2. In case |ENC_POS_DEV| > CL_START_UP and |ENC_POS_DEV| ≤ CL_BETA, current

values are scaled with a factor that increases linearly from CL_IMIN to CL_IMAX.

3. In case |ENC_POS_DEV| > CL_BETA, current values are scaled with CL_IMAX.

The chart below identifies the actual scaling parameter SCALE_PARAM, which is

dependent on the above described situations:

Turn page for information on closed-loop velocity mode.

Closed-Loop

Scaling

Configuration

and Enabling

Figure 64: Closed-Loop Current Scaling

SCALE_PARAM

0°

CL_IMIN

XACTUAL

–CL_BETA CL_BETA

CL_IMAX

ENC_POS_DEV [µSteps]

128

(45°)

256

(90°)

384

(135°)-128

(-45°)

-256

(-90°)

-384

(-135°)

–CL_START_UP CL_START_UP






MAIN MANUAL

Transition from one scale value to the next active value can be configured as slight

conversion. Two different parameters can be set in order to convert to higher or

lower closed-loop current scale values, as depicted in the chart below.

In order to configure a smooth transition from a lower motion current scaling

value to a higher motion current scaling value, do as follows:

Action:

Set CL_UPSCALE_DELAY register 0x18 according to the delay period after which the

actual scale parameter is increased by one step towards the higher current scale

value.

Result:

Whenever a higher current scale value is assigned internally, the actual scale

parameter is increased by one step per CL_UPSCALE_DELAY clock cycles until the


i If CL_UPSCALE_DELAY = 0, the higher current scaling value is immediately

assigned whenever the corresponding current scaling phase is activated.

In order to configure a smooth transition from a higher motion current scaling

value to a lower motion current scaling value, do as follows:

Action:

Set CL_DNSCALE_DELAY register 0x19 according to the delay period after which the

actual scale parameter is decreased by one step towards the lower current scale

value.

Result:

Whenever a lower current scale value is assigned internally, the actual scale

parameter is decreased by one step per CL_DNSCALE_DELAY clock cycles until the


i If CL_DNSCALE_DELAY = 0, the lower current scaling value is immediately

assigned whenever the corresponding current scaling phase is activated.

Figure 65: Closed-Loop Current Scaling Timing Behavior

t0

Actual Current Scale Target Value

Actual Current Scale Value

CL_

UPSC

ALE

_DEL

AY=0

CL_U

PSCA

LE_D

ELAY>0

CL_DNSCALE_DELAY>0

CL_D

NSCA

LE_DELA

Y=0

CL_IMAX

CL_IMIN

SCALE_PARAM

Closed-Loop

Scaling

Transition

Process Control






MAIN MANUAL

Back-EMF Compensation during Closed-Loop Operation

When higher velocities are reached, a phase shift between current and voltage occurs at the motor

coils. Consequently, current control is transformed into voltage control.

This motor- and setup-dependent effect must be compensated because currents are still

continuously assigned for motor control. TMC4361 attributes γ-correction to the compensation

process, which adds a velocity-dependent angle - in motion direction - to the current commutation

angle.

Gamma correction constantly adds one compensation angle, GAMMA, to the actual

commutation angle; because the velocity-dependent amount of the influence of

Back-EMF, GAMMA is also velocity-dependent. Thus, velocity limits are assigned.

These limits are based on REAL motor velocity V_ENC (register 0x65). The value of the

motor velocity is internally calculated and can be filtered (V_ENC_MEAN register 0x66)

to smoothen the γ-correction, which is explained in the next section.

In order to configure and enable Back-EMF compensation during closed-loop


Action:

Set proper CL_GAMMA register 0x1C.

Set proper CL_VMIN_EMF register 0x60.

Set proper CL_VMAX_EMF register 0x61.

Set cl_emf_en = 1 (ENC_IN_CONF register 0x07).

Result:

Back-EMF compensation during closed-loop operation is enabled. CL_GAMMA

represents the maximum value of GAMMA. Per default, CL_GAMMA is set to its

maximal possible value of 255, which represents a 90° angle.

The following compensation situations are possible:

1. In case |V_ENC_MEAN| ≤ CL_VMIN_EMF, GAMMA is set to 0.

2. In case |V_ENC_MEAN| > CL_VMIN_EMF and

|V_ENC_MEAN| ≤ (CL_VMIN_EMF + CL_VADD_EMF), GAMMA is scaled linearly

between 0 and its maximum value.

3. In case |V_ENC_MEAN| > (CL_VMIN_EMF + CL_VADD_EMF),

GAMMA = CL_GAMMA.

The chart below identifies the actual parameter GAMMA, which is dependent on the

above described situations:

If γ-correction is turned on, the maximum possible commutation is

(CL_BETA + CL_GAMMA ).

This value must not exceed 180° (511 microsteps at 256 microsteps per fullstep)

because angles of 180° or more will result in unwanted motion direction changes.

Load Angle

Calculation

Figure 66: Calculation of the actual Load Angle GAMMA

Areas of

Special

Concern

!

GAMMA

Usually 255 (=90°)

V_ENC_MEANCL_VMIN_EMF

CL_VADD_EMF

CL_GAMMA






MAIN MANUAL

In case an encoder is connected, REAL motor velocity can be read out. The actual

encoder velocity flickers. This is system-immanent. TMC4361 provides filter options

that back-EMF compensation is based on. The following velocity parameters can be

read out.

Actual encoder velocity in pulses (microsteps) per second [pps].

Actual filtered encoder velocity in pulses (microsteps) per second [pps].

In order to set filter parameters correctly, consider the following details:

ENC_VMEAN_WAIT represents the delay period in number of clock cycles between two

consecutive V_ENC values that are used for the encoder filter velocity calculation. The

lower this value, the faster the adaptation process of V_ENC_MEAN is. Accordingly:

The higher the gradient of V_ENC_MEAN is.

In case incremental ABN encoders are connected, ENC_VMEAN_WAIT must be set

above 32.

In case absolute encoders are connected, ENC_VMEAN_WAIT is automatically set to

SER_PTIME.

This filter exponent is used for filter calculations. The lower this value, the faster the

adaptation process of V_ENC_MEAN is. Accordingly: The higher the gradient of

V_ENC_MEAN is. Every ENC_VMEAN_WAIT clock cycles, the following calculation applies:

𝑉𝐸𝑁𝐶𝑀𝐸𝐴𝑁= VENCMEAN

−VENCMEAN

2𝐸𝑁𝐶_𝑉𝑀𝐸𝐴𝑁_𝐹𝐼𝐿𝑇𝐸𝑅+

V𝐸𝑁𝐶2𝐸𝑁𝐶_𝑉𝑀𝐸𝐴𝑁_𝐹𝐼𝐿𝑇𝐸𝑅

The refresh frequency of high encoder velocity values V_ENC is determined by this

encoder velocity update period.

In case incremental ABN encoders are connected, the minimum value of

ENC_VMEAN_INT is automatically set to 256.

In case absolute encoders are connected, ENC_VMEAN_INT is automatically adapted

to encoder value request rate.

Because internal calculation of low V_ENC values is triggered by AB signal changes

and not by the refresh frequency defined by ENC_VMEAN_INT, any occurring idle state

of the encoder is not recognized.

In order to determine that V_ENC = 0, it is possible to limit the number of clock cycles

while no AB signal changes occur; which then signifies encoder idle state.

In order to evoke encoder idle state, do as follows:

Action:

Set proper ENC_VEL_ZERO register 0x62.

Result:

In case no AB signal changes occur during ENC_VEL_ZERO clock cycles, ENC_VEL0 event

is triggered, which indicates encoder idle state.

Encoder Velocity

Readout

Parameters

V_ENC 0x65

V_ENC_MEAN

0x66

Encoder Velocity

Filter

Configuration

ENC_VMEAN_WAIT

0x63 (7:0)

ENC_VMEAN_FILTER

0x63 (11:8)

ENC_VMEAN_INT

0x63 (31:16)

Encoder Velocity

equals 0 Event






MAIN MANUAL

TECHNICAL SPECIFICATIONS

17. Complete Register and Switches List

General Configuration Register GENERAL_CONF 0x00

GENERAL_CONF 0x00 (Default value: 0x00006020)

R/W Bit Val Remarks

RW

0

use_astart_and_vstart (only valid for S-shaped ramps)

0 Sets AACTUAL = AMAX or –AMAX at ramp start and in the case of VSTART ≠ 0.

1 Sets AACTUAL = ASTART or –ASTART at ramp start and in the case of VSTART ≠ 0.

1

direct_acc_val_en

0 Acceleration values are divided by CLK_FREQ.

1 Acceleration values are set directly as steps per clock cycle.

2

direct_bow_val_en

0 Bow values are calculated due to division by CLK_FREQ.

1 Bow values are set directly as steps per clock cycle.

3

step_inactive_pol

0 STPOUT = 1 indicates an active step.

1 STPOUT = 0 indicates an active step.

4

toggle_step

0 Only STPOUT transitions from inactive to active polarity indicate steps.

1 Every level change of STPOUT indicates a step.

5

pol_dir_out

0 DIROUT = 0 indicates negative direction.

1 DIROUT = 1 indicates negative direction.

7:6

sdin_mode

0 Internal step control (internal ramp generator will be used)

1 External step control via STPIN / DIRIN interface with high active steps at STPIN

2 External step control via STPIN / DIRIN interface with low active steps at STPIN

3 External step control via STPIN / DIRIN interface with toggling steps at STPIN

8

pol_dir_in

0 DIRIN = 0 indicates negative direction.

1 DIRIN = 1 indicates negative direction.

9

sd_indirect_control

0 STPIN/DIRIN input signals will manipulate internal steps at XACTUAL directly.

1 STPIN/DIRIN input signals will manipulate XTARGET register value, the internal

ramp generator is used.

Turn Page.






MAIN MANUAL


R/W Bit Val Remarks

RW

11:10

serial_enc_in_mode

0 An incremental encoder is connected to encoder interface.

1 An absolute SSI encoder is connected to encoder interface.

2 Reserved

3 An absolute SPI encoder is connected to encoder interface.

12

diff_enc_in_disab

0 Differential encoder interface inputs enabled.

1 Differential encoder interface inputs is disabled (automatically set for SPI

encoder).

14:13

stdby_clk_pin_assignment

0 Standby signal becomes forwarded with an active low level at STDBY_CLK

output.

1 Standby signal becomes forwarded with an active high level at STDBY_CLK

output.

2 STDBY_CLK passes ChopSync clock

(TMC23x, TMC24x stepper motor drivers only).

3 Internal clock is forwarded to STDBY_CLK output pin.

15

intr_pol

0 INTR=0 indicates an active interrupt.

1 INTR=1 indicates an active interrupt.

16

invert_pol_target_reached

0 TARGET_REACHED signal is set to 1 to indicate a target reached event.

1 TARGET_REACHED signal is set to 0 to indicate a target reached event.

18:17 Reserved. Set to 0x0.

19

fs_en

0 Fullstep switchover is disabled.

1 SPI output forwards fullsteps, if |VACTUAL| > FS_VEL.

20

fs_sdout

0 No fullstep switchover for Step/Dir output is enabled.

1 Fullsteps are forwarded via Step/Dir output also if fullstep operation is active.

22:21

dcstep_mode

0 dcStep is disabled.

1 dcStep signal generation will be selected automatically

2 dcStep with external STEP_READY signal generation (TMC2130).

3

dcStep with internal STEP_READY signal generation (TMC26x).

i TMC26x config: use const_toff-Chopper (CHM = 1);

slow decay only (HSTRRT = 0);

TST = 1 and SGT0=SGT1=1 (on_state_xy).







MAIN MANUAL


R/W Bit Val Remarks

RW

23

pwm_out_en

0 PWM output is disabled. Step/Dir output is enabled at STPOUT/DIROUT.

1 STPOUT/DIROUT output pins are used as PWM output (PWMA/PWMB).

24

serial_enc_out_enable

0 No encoder is connected to SPI output.

1 SPI output is used as SSI encoder interface to forward absolute SSI encoder data.

25

serial_enc_out_diff_disable

0 Differential serial encoder output is enabled.

1 Differential serial encoder output is disabled.

26

automatic_direct_sdin_switch_off

0 VACTUAL=0 & AACTUAL=0 after switching off direct external step control.

1 VACTUAL = VSTART and AACTUAL = ASTART after switching off direct external step

control.

27

circular_cnt_as_xlatch

0 The register value of X_LATCH is forwarded at register 0x36.

1 The register value of REV_CNT (#internal revolutions) is forwarded at register 0x36.

28

reverse_motor_dir

0 The direction of the internal SinLUT is regularly used.

1 The direction of internal SinLUT is reversed

29

intr_tr_pu_pd_en

0 INTR and TARGET_REACHED are outputs with strongly driven output values..

1 INTR and TARGET_REACHED are used as outputs with gated pull-up and/or

pull-down functionality.

30

intr_as_wired_and

0 INTR output function is used as Wired-Or in case of intr_tr_pu_pd_en = 1.

1 INTR output function is used as Wired-And in case of intr_tr_pu_pd_en = 1.

31

tr_as_wired_and

0 TARGET_REACHED output function is used as Wired-Or in the case of

intr_tr_pu_pd_en = 1.

1 TARGET_REACHED output function is used as Wired-And in the case of

intr_tr_pu_pd_en = 1.

Table 60: General Configuration 0x00






MAIN MANUAL

Reference Switch Configuration Register REFERENCE_CONF 0x01

REFERENCE_CONF 0x01 (Default value: 0x00000000)

R/W Bit Val Remarks

RW

0

stop_left_en

0 STOPL signal processing disabled.

1 STOPL signal processing enabled.

1

stop_right_en

0 STOPR signal processing disabled.

1 STOPR signal processing enabled.

2

pol_stop_left

0 STOPL input signal is low active.

1 STOPL input signal is high active.

3

pol_stop_right

0 STOPR input signal is low active.

1 STOPR input signal is high active.

4

invert_stop_direction

0 STOPL/STOPR stops motor in negative/positive direction.

1 STOPL/STOPR stops motor in positive/negative direction.

5

soft_stop_en

0 Hard stop enabled. VACTUAL is immediately set to 0 on any external stop event.

1 Soft stop enabled. A linear velocity ramp is used for decreasing VACTUAL to v = 0.

6

virtual_left_limit_en

0 Position limit VIRT_STOP_LEFT disabled.

1 Position limit VIRT_STOP_LEFT enabled.

7

virtual_right_limit_en

0 Position limit VIRT_STOP_RIGHT disabled.

1 Position limit VIRT_STOP_RIGHT enabled.

9:8

virt_stop_mode

0 Reserved.

1 Hard stop: VACTUAL is set to 0 on a virtual stop event.

2 Soft stop is enabled with linear velocity ramp (from VACTUAL to v = 0).

3 Reserved.

10

latch_x_on_inactive_l

0 No latch of XACTUAL if STOPL becomes inactive.

1 X_LATCH = XACTUAL is stored in the case STOPL becomes inactive.

11

latch_x_on_active_l

0 No latch of XACTUAL if STOPL becomes active.

1 X_LATCH = XACTUAL is stored in the case STOPL becomes active.







MAIN MANUAL


R/W Bit Val Remarks

RW

12

latch_x_on_inactive_r

0 No latch of XACTUAL if STOPR becomes inactive.

1 X_LATCH = XACTUAL is stored in the case STOPL becomes inactive.

13

latch_x_on_active_r

0 No latch of XACTUAL if STOPR becomes active.

1 X_LATCH = XACTUAL is stored in the case STOPL becomes active.

14

stop_left_is_home

0 STOPL input signal is not also the HOME position.

1 STOPL input signal is also the HOME position.

15

stop_right_is_home

0 STOPR input signal is not lso the HOME position.

1 STOPR input signal is also the HOME position.

19:16

home_event

0 Next active N event of connected ABN encoder signal indicates HOME position.

2 HOME_REF = 1 indicates an active home event

X_HOME is located at the rising edge of the active range.

3 HOME_REF = 0 indicates negative region/position from the home position.


X_HOME is located at the falling edge of the active range.


X_HOME is located in the middle of the active range.


X_HOME is located in the middle of the active range.


X_HOME is located at the rising edge of the active range.

12 HOME_REF = 1 indicates negative region/position from the home position.


X_HOME is located at the falling edge of the active range.

20

start_home_tracking

0 No storage to X_HOME by passing home position.

1

Storage of XACTUAL as X_HOME at next regular home event.

This switch is reset after an executed homing.

An XLATCH_DONE event will be also released then.

21

clr_pos_at_target

0 Ramp stops at XTARGET if positioning mode is active.

1 Set XACTUAL = 0 after XTARGET has been reached.

The next ramp starts immediately.

22

circular_movement_en

0 Range of XACTUAL is not limited: −231 ≤ XACTUAL ≤ 231−1

1 Range of XACTUAL is limited by X_RANGE: −X_RANGE ≤ XACTUAL ≤ X_RANGE −1







MAIN MANUAL


R/W Bit Val Remarks

RW

24:23

pos_comp_output

0 TARGET_REACHED is set active on TARGET_REACHED event.

1 Reserved.

2 Reserved.

3 TARGET_REACHED triggers on POSCOMP_REACHED event.

25

pos_comp_source

0 POS_COMP is compared to internal position XACTUAL.

1 POS_COMP is compared with external position ENC_POS.

26

stop_on_stall

0 SPI and S/D output interface remain active in case of an stall event.

1 SPI and S/D output interface stops motion in case of an stall event (hard stop).

27

drv_after_stall

0 No further motion in case of an active Stop-on-Stall event.

1 Motion is possible in case of an active Stop-on-Stall event and after the

Stop-on-Stall event is reset.

29:28

modified_pos_compare:

POS_COMP_REACHED_F / event is based on comparison

between XACTUAL resp. ENC_POS and

0 POS_COMP

1 X_HOME

2 X_LATCH resp. ENC_LATCH

3 REV_CNT

30

automatic_cover

0 SPI output interface will not transfer automatically any cover datagram.

1 SPI output interface sends automatically cover datagrams when VACTUAL crosses

SPI_SWITCH_VEL.

31

circular_enc_en

0 Range of ENC_POS is not limited: −231 ≤ ENC_POS ≤ 231−1

1 Range of ENC_POS is limited by X_RANGE: −X_RANGE ≤ ENC_POS ≤ X_RANGE −1

Table 61: Reference Switch Configuration 0x01






MAIN MANUAL

Start Switch Configuration Register START_CONF 0x02

START_CONF 0x02 (Default value: 0x00000000)

R/W Bit Val Remarks

RW

4:0

start_en

xxxx1 Alteration of XTARGET value requires distinct start signal.

xxx1x Alteration of VMAX value requires distinct start signal.

xx1xx Alteration of RAMPMODE value requires distinct start signal.

x1xxx Alteration of GEAR_RATIO value requires distinct start signal.

1xxxx Shadow Register Feature Set is enabled.

8:5

trigger_events

0000 Timing feature set is disabled because start signal generation is disabled.

xxx0 START pin is assigned as output.

xxx1 External start signal is enabled as timer trigger. START pin is assigned as input.

xx1x TARGET_REACHED event is assigned as start signal trigger.

x1xx VELOCITY_REACHED event is assigned as start signal trigger.

1xxx POSCOMP_REACHED event is assigned as start signal trigger.

9

pol_start_signal

0 START pin is low active (input resp. output).

1 START pin is high active (input resp. output).

10

immediate_start_in

0 Active START input signal starts internal start timer.

1 Active START input signal is executed immediately.

11

busy_state_en

0 START pin is only assigned as input or output.

1 Busy start state is enabled. START pin is assigned as input with a weakly driven

active start polarity or as output with a strongly driven inactive start polarity.

15:12

pipeline_en

0000 No pipelining is active.

xxx1 X_TARGET is considered for pipelining.

xx1x POS_COMP is considered for pipelining.

x1xx GEAR_RATIO is considered for pipelining.

1xxx GENERAL_CONF is considered for pipelining.

17:16

shadow_option

0 Single-level shadow registers for 13 relevant ramp parameters.

1 Double-stage shadow registers for S-shaped ramps.

2 Double-stage shadow registers for trapezoidal ramps (excl. VSTOP).

3 Double-stage shadow registers for trapezoidal ramps (excl. VSTART).







MAIN MANUAL

START_CONF 0x02 (Default value: 0x00000000)

R/W Bit Val Remarks

18

cyclic_shadow_regs

0 Current ramp parameters are not written back to the shadow register.

1 Current ramp parameters are written back to the appropriate shadow register.

RW

19 Reserved. Set to 0.

23:20

SHADOW_MISS_CNT

U Number of unused start internal start signals between two consecutive

shadow register transfers.

31:24

XPIPE_REWRITE_REG

Current assigned pipeline registers – START_CONF(15:12) – are written back to

X_PIPEx in the case of an internal start signal generation and if assigned in this

register with a ‘1’:

XPIPE_REWRITE_REG(0) à X_PIPE0








Ex.:

START_CONF(15:12) = b’0011.

START_CONF(31:24) = b’01000010.

If an internal start signal is generated, the value of X_TARGET is written back to

X_PIPE1, whereas the value of POS_COMP is written back to X_PIPE6.

Table 62: Start Switch Configuration START_CONF 0x02






MAIN MANUAL

Input Filter Configuration Register INPUT_FILT_CONF 0x03

INPUT_FILT_CONF 0x03 (Default value: 0x00000000)

R/W Bit Val Remarks

RW

2:0

SR_ENC_IN

U Input sample rate = fclk / 2SR_ENC_IN for the following pins:

A_SCLK, ANEG_NSCLK, B_SDI, BNEG_NSDI, N, NNEG


6:4

FILT_L_ENC_IN

U

Filter length for these pins: A_SCLK, ANEG_NSCLK, B_SDI, BNEG_NSDI, N, NNEG.

Number of sample input bits that must have equal voltage levels to provide a

valid input bit.

7

SD_FILT0

0 S/D input pins (STPIN/DIRIN) are not assigned to the ENC_IN input filter group.

1 S/D input pins (STPIN/DIRIN) are also assigned to the ENC_IN input filter group.

10:8 SR_REF

U Input sample rate = fclk / 2REF for the following pins: STOPL, HOME_REF, STOPL


14:12

FILT_L_ENC_IN

U Filter length for the following pins: STOPL, HOME_REF, STOPL. Number of

sample input bits that must have equal voltage levels to provide a valid input bit.

15

SD_FILT1

0 S/D input pins (STPIN/DIRIN) are not assigned to the REF input filter group.

1 S/D input pins (STPIN/DIRIN) are also assigned to the REF input filter group.

18:16 SR_S

U Input sample rate = fclk / 2S for the START pin.


22:20

FILT_L_S

U Filter length for the START pin. Number of sample input bits that must have

equal voltage levels to provide a valid input bit.

23

SD_FILT2

0 S/D input pins (STPIN/DIRIN) are not assigned to the S input filter group.

1 S/D input pins (STPIN/DIRIN) are also assigned to the S input filter group.

26:24 SR_ENC_OUT

U Input sample rate = fclk / 2SR_ENC_OUT for these pins: SDODRV_SCLK, SDIDRV_NSCLK


30:28

FILT_L_ENC_OUT

U Filter length for the following pins: SDODRV_SCLK, SDIDRV_NSCLK. Number of

sample input bits that must have equal voltage levels to provide a valid input bit.

31

SD_FILT3

0 S/D input pins (STPIN/DIRIN) are not assigned to the ENC_OUT input filter group.

1 S/D input pins (STPIN/DIRIN) are assigned to the ENC_OUT input filter group.

Table 63: Input Filter Configuration Register INPUT_FILT_CONF 0x03






MAIN MANUAL

SPI Output Configuration Register SPI_OUT_CONF 0x04

SPI_OUT_CONF 0x04 (Default value: 0x00000000)

R/W Bit Val Remarks

RW

3:0

spi_output_format

0 SPI output interface is off.

1

SPI output interface is connected with a SPI-DAC. SPI output values are mapped

to full amplitude:

Current=0 à VCC/2

Current=−max à 0

Current=max à VCC

2

SPI output interface is connected with a SPI-DAC. SPI output values are absolute

values. Phase of coilA is forwarded via STPOUT, whereas phase of coilB is

forwarded via DIROUT. Phase bit = 0:positive value.

3

SPI output interface is connected with a SPI-DAC. SPI output values are absolute

values. Phase of coilA is forwarded via STPOUT, whereas phase of coilB is

forwarded via DIROUT. Phase bit = 0: negative value.

4 The actual unsigned scaling factor is forwarded via SPI output interface.

5 Both actual signed current values CURRENTA and CURRENTB are forwarded in

one datagram via SPI output interface.

6 SPI output interface is connected with a SPI-DAC. The actual unsigned scaling

factor is merged with DAC_ADDR_A value to an output datagram.

8 SPI output interface is connected with a TMC23x stepper motor driver.

9 SPI output interface is connected with a TMC24x stepper motor driver.

10 SPI output interface is connected with a TMC26x/389 stepper motor driver.

Configuration and current data are transferred to the stepper motor driver.

11 SPI output interface is connected with a TMC26x stepper motor driver. Only

configuration data is transferred. S/D output interface provides steps.

12

SPI output interface is connected with a TMC2130 stepper motor driver. Only

configuration data is transferred to the stepper motor driver. S/D output

interface provides steps.

13 SPI output interface is connected with a TMC2130 stepper motor driver.

Configuration and current data are transferred to the stepper motor driver.

15 Only cover datagrams are transferred via SPI output interface.

19:13

COVER_DATA_LENGTH

U

Number of bits for the complete datagram length. Maximum value = 64

Set to 0 in case a TMC stepper motor driver is selected. The datagram length is

then selected automatically.

23:20 SPI_OUT_LOW_TIME

U Number of clock cycles the SPI output clock remains at low level.

27:24 SPI_OUT_HIGH_TIME

U Number of clock cycles the SPI output clock remains at high level.

31:28

SPI_OUT_BLOCK_TIME

U Number of clock cycles. The NSCSDRV output remains high (inactive) after SPI

output transmission.







MAIN MANUAL


R/W Bit Val Remarks

RW

5:4

mixed_decay (TMC23x/24x only)

0 Both mixed decay bits are always off.

1 Mixed decay bits are on during falling ramps until reaching a current value of 0.

2 Mixed decay bits are always on, except during standstill.

3 Mixed decay bits are always on.

6

stdby_on_stall_for_24x (TMC24x only)

0 No standby datagram is sent.

1 In case of a Stop-on-Stall event, a standby datagram is sent to the TMC24x.

7

stall_flag_instead_of_uv_en (TMC24x only)

0 Undervoltage flag of TMC24x is mapped at STATUS(24).

1 Calculated stall status of TMC24x is forwarded at STATUS(24).

10:8

STALL_LOAD_LIMIT (TMC24x only)

U A stall is detected if the stall limit value STALL_LOAD_LIMIT is higher than the

combination of the load bits (LD2&LD1&LD0).

11

pwm_phase_shft_en (TMC24x only)

0 No phase shift during PWM mode.

1

During PWM mode, the internal SinLUT microstep position MSCNT is shifted to

MS_OFFSET microsteps. Consequently, the sine/cosine values have a phase shift

of (MS_OFFSET / 1024 ∙ 360°)

4

three_phase_stepper_en (TMC389 only)

0 A 2-phase stepper motor driver is connected to the SPI output (TMC26x).

1 A 3-phase stepper motor driver is connected to the SPI output (TMC389).

5

scale_val_transfer_en (TMC26x/2130 in SD mode only)

0 No transfer of scale values.

1 Transmission of current scale values to the appropriate driver registers.

6

disable_polling (TMC26x/2130 in SD mode only)

0 Permanent transfer of polling datagrams to check driver status.

1 No transfer of polling datagrams.

11:7

POLL_BLOCK_MULT (TMC26x/2130 in SD mode only)

U Multiplier for calculating the time interval between two consecutive polling

datagrams: tPOLL = (POLL_BLOCK_MULT+1) ∙ SPI_OUT_BLOCK_TIME / fCLK

4

sck_low_before_csn (No TMC driver)

0 NSCSDRV_SDO is tied low before SCKDRV_NSDO to initiate a new data transfer.

1 SCKDRV_NSDO is tied low before NSCSDRV_SDO to initiate a new data transfer.

5

new_out_bit_at_rise (No TMC driver)

0 New value bit at SDODRV_SCLK is assigned at falling edge of SCKDRV_NSDO.

1 New value bit at SDODRV_SCLK is assigned at rising edge of SCKDRV_NSDO.







MAIN MANUAL


R/W Bit Val Remarks

11:7 DAC_CMD_LENGTH (SPI-DAC only)

U Number of bits for command address if one of the SPI-DAC options is selected

RW


23:4

SSI_OUT_MTIME (Serial encoder output only)

U Monoflop time for SSI output interface: Delay time [clock cycles] during which

the absolute encoder data remain stable after the last master request.

Table 64: SPI Output Configuration Register SPI_OUT_CONF 0x04






MAIN MANUAL

Current Scaling Configuration Register CURRENT_CONF 0x05

CURRENT_CONF 0x05 (Default: 0x00000000)

R/W Bit Val Remarks

RW

0

hold_current_scale_en

0 No hold current scaling during standby phase.

1 Hold current scaling during standby phase.

1

drive_current_scale_en

0 No drive current scaling during motion.

1 Drive current scaling during motion.

2

boost_current_on_acc_en

0 No boost current scaling for deceleration ramps.

1 Boost current scaling if RAMP_STATE = b’01 (acceleration slopes).

3

boost_current_on_dec_en

0 No boost current scaling for deceleration ramps.

1 Boost current scaling if RAMP_STATE = b’10 (deceleration slopes).

4

boost_current_after_start_en

0 No boost current at ramp start.

1 Temporary boost current if VACTUAL = 0 and new ramp starts.

5

sec_drive_current_scale_en

0 One drive current value for the whole motion ramp.

1 Second drive current scaling for VACTUAL > VDRV_SCALE_LIMIT.

6

freewheeling_en

0 No freewheeling.

1 Freewheeling after standby phase.

7

closed_loop_scale_en

0 No closed-loop current scaling.

1 Closed-loop current scaling – CURRENT_CONF(6:0) = 0 is set automatically

Turn off for closed-loop calibration with maximum current!

8

pwm_scale_en

0 PWM scaling is disabled.

1 PWM scaling is enabled.


31:16

PWM_AMPL

U

PWM amplitude during Voltage PWM mode at VACTUAL = 0.

i Maximum duty cycle = (0.5 + (PWM_AMPL + 1) / 217)

Minimum duty cycle = (0.5 – (PWM_AMPL + 1) / 217)

PWM_AMPL = 216 – 1 at VACTUAL = PWM_VMAX

Table 65: Current Scale Configuration (0x05)






MAIN MANUAL

Current Scale Values Register SCALE_VALUES 0x06

SCALE_VALUES 0x06 (Default: 0xFFFFFFFF)

R/W Bit Val Scaling Value Name Remarks

RW

7:0 U BOOST_SCALE_VAL Open-loop boost scaling value.

CL_IMIN Closed-loop minimum scaling value.

15:8 U DRV1_SCALE_VAL Open-loop first drive scaling value.

CL_IMAX Closed-loop maximum scaling value.

23:16 U

DRV2_SCALE_VAL Open-loop second drive scaling value.

CL_START_UP |ENC_POS_DEV| value at which closed-loop scaling

increases the current scaling value above CL_IMIN.

31:24 U

HOLD_SCALE_VAL Open-loop standby scaling value.

CL_START_DOWN

|ENC_POS_DEV| value at which closed-loop scaling

decreases the current scaling value below CL_IMAX.

i Recommended: Set to 0 to automatically assign to

CL_BETA.

Table 66: Current Scale Values (0x06)

NOTE:

BOOST_SCALE_VAL, DRV1/DRV2_SCALE_VAL, HOLD_SCALE_VAL, CL_IMIN, CL_IMAX.

Real scaling value = (x+1) / 32 if spi_output_format = b’1011 or b’1100.

= (x+1) / 256 any other spi_output_format setting.






MAIN MANUAL

Encoder Signal Configuration (0x07)

ENC_IN_CONF 0x07 (Default 0x00000400)

R/W Bit Val Description

RW

0

enc_sel_decimal

0 Encoder constant represents a binary number.

1 Encoder constant represents a decimal number (for ABN only).

1

clear_on_n

0 ENC_POS is not set to ENC_RESET_VAL.

1

ENC_POS is set to ENC_RESET_VAL

on every N event in case clr_latch_cont_on_n=1, or

on the next N event in case clr_latch_once_on_n=1.

Do NOT use during closed-loop operation!

2

clr_latch_cont_on_n

0 Value of ENC_POS is not cleared and/or latched on every N event.

1 Value of ENC_POS is cleared and/or latched on every N event.

3

clr_latch_once_on_n

0 Value of ENC_POS is not cleared and/or latched on the next N event.

1 Value of ENC_POS is cleared and/or latched on the next N event.

i This bit is set to 0 after latching/clearing once.

4

pol_n

0 Active polarity for N event is low active.

1 Active polarity for N event is high active.

6:5

n_chan_sensitivity

0 N event is active as long as N equals active N event polarity.

1 N event triggers when N switches to active N event polarity.

2 N event triggers when N switches to inactive N event polarity.

3 N event triggers when N switches to in-/active N event polarity (both slopes).

7

pol_a_for_n

0 A polarity has to be low for a valid N event.

1 A polarity has to be high for a valid N event.

8

pol_b_for_n

0 B polarity has to be low for valid N event

B polarity has to be high for valid N event 1

9

ignore_ab

0 TMC4361 considers A and B polarities for valid N event.

1 Polarities of A and B signals for a valid N event are ignored.







MAIN MANUAL



RW

10

latch_enc_on_n

0 ENC_POS is not latched.

1

ENC_POS is latched to ENC_LATCH



11

latch_x_on_n

0 XACTUAL is not latched.

1

XACTUAL is latched to X_LATCH



12

multi_turn_in_en (Absolute encoder only)

0 Connected serial encoder transmits singleturn values.

1 Connected serial encoder input transmits singleturn and multiturn values.

13

multi_turn_in_signed (Absolute encoder only)

0 Multiturn values from serial encoder input are unsigned numbers.

1 Multiturn values from serial encoder input are signed numbers.

14

multi_turn_out_en (Serial encoder output only)

0 Serial encoder output transmits singleturn values.

1 Serial encoder output transmits singleturn and multiturn values.

15

use_usteps_instead_of_xrange

0 X_RANGE is valid in case circular motion is also enabled for encoders.

1 USTEPS_PER_REV is valid in case circular motion is also enabled for encoders.

16

calc_multi_turn_behav (Absolute encoder only)

0 No multiturn calculation.

1 TMC4361 calculates internally multiturn data for singleturn encoder data.

17

ssi_multi_cycle_data (Absolute encoder only)

0 Every SSI value request is executed once.

1 Every SSI value request is executed twice.

18

ssi_gray_code_en (Absolute encoder only)

0 SSI input data is binary-coded.

1 SSI input data is gray-coded.

19

left_aligned_data (Absolute encoder only)

0 Serial input data is aligned right (first flags, then data).

1 Serial input data is aligned left (first data, then flags).

Turn page.






MAIN MANUAL



RW

20

spi_data_on_cs (SPI encoder only)

0 BNEG_NSDI provides serial output data at next serial clock line (A_SCLK) transition.

1 BNEG_NSDI provides serial output data immediately in case negated chip select line

ANEG_NSCLK switches to low level.

21

spi_low_before_cs (SPI encoder only)

0 Serial clock line A_SCLK switches to low level after negated chip select line


1 Serial clock line A_SCLK switches to low level before negated chip select line


23:22

regulation_modus

0 No internal regulation on encoder feedback data.

1 Closed-loop operation is enabled.

Use full microstep resolution only! (256 µSteps/FS à MSTEPS_PER_FS=0)

2 PID regulation is enabled. Pulse generator base velocity equals 0.

3 PID regulation is enabled. Pulse generator base velocity equals VACTUAL.

24

cl_calibration_en (Closed-loop operation only)

0 Closed-loop calibration is deactivated.

1

Closed-loop calibration is active.

Use maximum current without scaling during calibration.

It is recommend to keep the motor driver at fullstep position with no

motion occurrence during the calibration process.

25

cl_emf_en (Closed-loop operation only)

0 Back-EMF compensation deactivated during closed-loop operation.

1 Back-EMF compensation is enabled during closed-loop operation. Closed-loop

operation compensates Back-EMF in case |VACTUAL| > CL_VMIN.

26

cl_clr_xact (Closed-loop operation only)

0 XACTUAL is not reset to ENC_POS during closed-loop operation.

1

XACTUAL is set to ENC_POS in case |ENC_POS_DEV| > ENC_POS_DEV_TOL during closed-

loop operation.

This feature must only be used if understood completely.

27

cl_vlimit_en (Closed-loop operation only)

0 No catch-up velocity limit during closed-loop regulation.

1 Catch-up velocity during closed-loop operation is limited by internal PI regulator.

28

cl_velocity_mode_en (Closed-loop operation only)

0 Closed-loop velocity mode is deactivated.

1 Closed-loop velocity mode is deactivated.

In case |ENC_POS_DEV| > 768, XACTUAL is adjusted accordingly.

29

invert_enc_dir

0 Encoder direction is NOT inverted internally.

1 Encoder direction is inverted internally.

Turn page.






MAIN MANUAL



RW

30

enc_out_gray (Serial encoder output only)

0 SSI output data is binary-encoded.

1 SSI output data is gray-encoded.

31

no_enc_vel_preproc (Incremental ABN encoder)

0 AB signal is preprocessed for internal encoder velocity calculation.

1

No AB signal preprocessing.

It is recommend to maintain AB preprocessing in order to filter encoder

resonances.

serial_enc_variation_limit (Absolute encoder)

0 No variation limit on absolute encoder data.

1

Two consecutive serial encoder values must no deviate from specified limit to be

valid.

In case |ENC_POSX − ENC_POSX-1| > 1/8 · SER_ENC_VARIATION · ENC_IN_RES, ENC_POSX is

not valid and is not assigned to ENC_POS.

Table 67: Encoder Signal Configuration ENC_IN_CONF (0x07)

Serial Encoder Data Input Configuration (0x08)

ENC_IN_DATA 0x08 (Default: 0x00000000)

R/W Bit Val Remarks

RW

4:0 SINGLE_TURN_RES (Default: 0x00)

U Number of angle data bits within one revolution = SINGLE_TURN_RES + 1

9:5 MULTI_TURN_RES (Default: 0x00)

U Number of data bits for revolution count = MULTI_TURN_RES + 1

11:10 STATUS_BIT_CNT (Default: 0x0)

U Number of status data bits


23:16 SERIAL_ADDR_BITS (Default: 0x00) (SPI encoder only)

U Number of address bits within one SPI datagram for SPI encoder configuration

31:24 SERIAL_DATA_BITS (Default: 0x00) (SPI encoder only)

U Number of data bits within one SPI datagram for SPI encoder configuration

Table 68: Serial Encoder Data Input Configuration ENC_IN_DATA (0x08)






MAIN MANUAL

Serial Encoder Data Output Configuration (0x09)

ENC_OUT_DATA 0x09 (Default: 0x00000000)

R/W Bit Val Remarks

RW

4:0 SINGLE_TURN_RES_OUT (Default: 0x00)

U Number of angle data bits within one revolution = SINGLE_TURN_RES_OUT + 1

9:5 MULTI_TURN_RES_OUT (Default: 0x00)

U Number of data bits for revolution count = MULTI_TURN_RES_OUT + 1


Table 69: Serial Encoder Data Output Configuration ENC_OUT_DATA (0x09)






MAIN MANUAL

Motor Driver Settings Register STEP_CONF 0x0A

STEP_CONF 0x0A (Default: 0x00FB0C80)

R/W Bit Val Remarks

RW

3:0

MSTEP_PER_FS (Default: 0x0)

0

Highest microsteps resolution: 256 microsteps per fullstep.

i Set to 256 for closed-loop operation.

i When using a Step/Dir driver, it must be capable of a 256 resolution

via Step/Dir input for best performance (but lower resolution Step/Dir

drivers can be used as well).

1 128 microsteps per fullstep.






7 Halfsteps: 2 microsteps per fullstep.

8 Full steps (maximum possible setting)

15:4 FS_PER_REV (Default: 0x0C8)

U Fullsteps per motor axis revolution

23:16

MSTATUS_SELECTION (Default: 0xFB)

Selection of motor driver status bits for SPI response datagrams:

ORed with Motor Driver Status Register Set (7:0):

if set here and a particular flag is set from the motor stepper driver, an event will

be generated at EVENTS(30)


Table 70: Motor Driver Settings (0x0A)






MAIN MANUAL

Event Selection Registers 0x0B..0X0D

Event Selection Registers

R/W Addr Bit Remarks

RW

0x0B

SPI_STATUS_SELECTION (Default: 0x82029805)

31:0

Events selection for SPI datagrams:

Event bits of EVENTS register 0x0E that are selected (=1) in this register are

forwarded to the eight status bits that are transferred with every SPI datagram

(first eight bits from LSB are significant!).

0x0C

EVENT_CLEAR_CONF (Default: 0x00000000)

31:0

Event protection configuration:

Event bits of EVENTS register 0x0E that are selected in this register (=1) are not

cleared during the readout process of EVENTS register 0x0E.

0x0D

INTR_CONF (Default: 0x00000000)

31:0

Event selection for INTR output:

All Event bits of EVENTS register 0x0E that are selected here (=1) are ORed with

interrupt event register set:

if any of the selected events is active, an interrupt at INTR is generated.

Table 71: Event Selection Regsiters 0x0B…0x0D






MAIN MANUAL

Status Event Register (0x0E)

Status Event Register EVENTS 0x0E

R/W Bit Description

R+C

0 TARGET_REACHED has been triggered.

1 POS_COMP_REACHED has been triggered.

2 VEL_REACHED has been triggered.

3 VEL_STATE = b’00 has been triggered (VACTUAL = 0).

4 VEL_STATE = b’01 has been triggered (VACTUAL > 0).

5 VEL_STATE = b’10 has been triggered (VACTUAL < 0).

6 RAMP_STATE = b’00 has been triggered (AACTUAL = 0, VACTUAL is constant).

7 RAMP_STATE = b’01 has been triggered (|VACTUAL| increases).

8 RAMP_STATE = b’10 has been triggered (|VACTUAL| increases).

9 MAX_PHASE_TRAP: Trapezoidal ramp has reached its limit speed using maximum values for

AMAX or DMAX (|VACTUAL| > VBREAK; VBREAK≠0).

10 FROZEN: NFREEZE has switched to low level.

i Reset TMC4361 for further motion.

11 STOPL has been triggered. Motion in negative direction is not executed until this event is

cleared and (STOPL is not active any more or stop_left_en is set to 0).

12 STOPR has been triggered. Motion in positive direction is not executed until this event is

cleared and (STOPR is not active any more or stop_right_en is set to 0).

13 VSTOPL_ACTIVE: VSTOPL has been activated. No further motion in negative direction until this

event is cleared and (a new value is chosen for VSTOPL or virtual_left_limit_en is set to 0).

14 VSTOPR_ACTIVE: VSTOPR has been activated. No further motion in positive direction until this

event is cleared and (a new value is chosen for VSTOPR or virtual_right_limit_en is set to 0).

15 HOME_ERROR: Unmatched HOME_REF polarity and HOME is outside of safety margin.

16 XLATCH_DONE indicates if X_LATCH was rewritten or homing process has been completed.

17 FS_ACTIVE: Fullstep motion has been activated.

18 ENC_FAIL: Mismatch between XACTUAL and ENC_POS has exceeded specified limit.

19 N_ACTIVE: N event has been activated.

20 ENC_DONE indicates if ENC_LATCH was rewritten.

21 SER_ENC_DATA_FAIL: Failure during multi-cycle data evaluation or between two consecutive data

requests has occured.

22 Reserved.

23 SER_DATA_DONE: Configuration data was received from serial SPI encoder.

24 One of the SERIAL_ENC_Flags was set.

25 COVER_DONE: SPI datagram was sent to the motor driver.

26 ENC_VEL0: Encoder velocity has reached 0.

27 CL_MAX: Closed-loop commutation angle has reached maximum value.

28 CL_FIT: Closed-loop deviation has reached inner limit.

29 STOP_ON_STALL: Motor stall detected. Motor ramp has stopped.

30 MOTOR_EV: One of the selected TMC motor driver flags was triggered.

31 Reset was triggered.

Table 72: Status Event Register EVENTS (0x0E)






MAIN MANUAL

Status Flag Register (0x0F)

Status Flag Register STATUS 0x0F

R/W Bit Description

R

0 TARGET_REACHED_F is set high if XACTUAL = XTARGET

1 POS_COMP_REACHED_F is set high if XACTUAL = POS_COMP

2 VEL_REACHED_F is set high if VACTUAL = |VMAX|

4:3

VEL_STATE_F: Current velocity state: 0 à VACTUAL = 0;

1 à VACTUAL > 0;

2 à VACTUAL < 0

6:5

RAMP_STATE_F: Current ramp state: 0 à AACTUAL = 0;

1 à AACTUAL increases (acceleration);

2 à AACTUAL decreases (deceleration)

7 STOPL_ACTIVE_F: Left stop switch is active.

8 STOPR_ACTIVE_F: Right stop switch is active.

9 VSTOPL_ACTIVE_F: Left virtual stop switch is active.

10 VSTOPR_ACTIVE_F: Right virtual stop switch is active.

11 ACTIVE_STALL_F: Motor stall is detected and VACTUAL > VSTALL_LIMIT.

12 HOME_ERROR_F: HOME_REF input signal level is not equal to expected home level.

13 FS_ACTIVE_F: Fullstep operation is active.

14 ENC_FAIL_F: Mismatch between XACTUAL and ENC_POS is out of tolerated range.

15 N_ACTIVE_F: N event is active.

16 ENC_LATCH_F: ENC_LATCH is rewritten.

17

Applies to absolute encoders only:

MULTI_CYCLE_FAIL_F indicates a failure during last multi cycle data evaluation.

Applies to absolute encoders only:

SER_ENC_VAR_F indicates a failure during last serial data evaluation due to a substantial

deviation between two consecutive serial data values.

18 Reserved.

19 CL_FIT_F: Active if ENC_POS_DEV < CL_TOLERANCE. The current mismatch between XACTUAL

and ENC_POS is within tolerated range.

23:20 Applies to absolute encoders only: SERIAL_ENC_FLAGS received from encoder. These flags are

reset with a new encoder transfer request.

24

TMC26x / TMC2130 only: SG: StallGuard2 status

Optional for TMC24x only: Calculated stallGuard status.

TMC23x / TMC24x only: UV_SF: Undervoltage flag.

25 All TMC motor drivers: OT: Overtemperature shutdown.

26 All TMC motor drivers: OTPW: Overtemperature warning.

27

TMC26x / TMC2130 only: S2GA: Short to ground detection bit for high side MOSFET

of coil A.

TMC23x / TMC24x only: OCA: Overcurrent bridge A.

28

TMC26x / TMC2130 only: S2GB: Short to ground detection bit for high side MOSFET

of coil B.

TMC23x / TMC24x only: OCB: Overcurrent bridge B.

29 All TMC motor drivers: OLA: Open load indicator of coil A.

30 All TMC motor drivers: OLB: Open load indicator of coil B.

31 TMC26x / TMC2130 only: STST: Standstill indicator.

TMC23x / TMC24x only: OCHS: Overcurrent high side.

Table 73: Status Flag Register STATUS (0x0F)






MAIN MANUAL

Configuration Registers: Closed-Loop, Switches, etc.

Various Configuration Registers: Closed-loop, Switches…

R/W Addr Bit Val Description

RW

0x10

15:0

STP_LENGTH_ADD (Default: 0x0000)

U Additional length [# clock cycles] for active step polarity to indicate an active

output step at STPOUT.

31:16 DIR_SETUP_TIME (Default: 0x0000)

U Delay [# clock cycles] between DIROUT and STPOUT voltage level changes.

0x11 31:0

START_OUT_ADD (Default:0x00000000)

U Additional length [# clock cycles] for active start signal.

Active start signal length = 1+START_OUT_ADD

0x12 31:0

GEAR_RATIO (Default:0x01000000)

S Constant value that is added to the internal position counter by an active step

at STPIN. Value representation: 8 digits and 24 decimal places.

0x13 31:0 START_DELAY (Default:0x00000000)

U Delay time [# clock cycles] between start trigger and internal start signal release.

0x14 31:0 Reserved. Set to 0x00000000.

0x15 31:0 STDBY_DELAY (Default:0x00000000)

U Delay time [# clock cycles] between ramp stop and activating standby phase.

0x16 31:0

FREEWHEEL_DELAY (Default:0x00000000)

U Delay time [# clock cycles] between initialization of active standby phase and

freewheeling initialization.

0x17 23:0

VDRV_SCALE_LIMIT (Default:0x00000000) (Voltage PWM mode is not active)

U

Drive scaling separator:

DRV2_SCALE_VAL is active in case VACTUAL > VDRV_SCALE_LIMIT

DRV1_SCALE_VAL is active in case VACTUAL ≤ VDRV_SCALE_LIMIT

PWM_VMAX (Default:0x00000000) (Voltage PWM is enabled)

U PWM velocity value at which maximal scale parameter value 1.0 is reached.

0x18 23:0

UP_SCALE_DELAY (Default:0x000000) (Open-loop operation)

U Increment delay [# clock cycles]. The value defines the clock cycles, which are

used to increase the current scale value for one step towards higher values.

CL_UPSCALE_DELAY (Default:0x000000) (Closed-loop operation)

U

Increment delay [# clock cycles]. The value defines the clock cycles, which are

used to increase the current scale value for one step towards higher current

values during closed-loop operation.

0x19 23:0

HOLD_SCALE_DELAY (Default:0x000000) (Open-loop operation)

U Decrement delay [# clock cycles] to decrease the actual scale value by one step

towards hold current.

CL_DNSCALE_DELAY(Default: 0x000000) (Closed-loop operation)

U Decrement delay [# clock cycles] to decrease the current scale value by one

step towards lower current values during closed-loop operation.






MAIN MANUAL

Various Configuration Registers: Closed-loop, Switches…


RW

0x1A 23:0

DRV_SCALE_DELAY (Default:0x000000)

U Decrement delay [# clock cycles], which signifies current scale value decrease

by one step towards lower value.

0x1B 31:0 BOOST_TIME (Default:0x00000000)

U Time [# clk cycles] after a ramp start when boost scaling is active.

0x1C

8:0

CL_BETA (0x0FF)

U

Maximum commutation angle for closed-loop regulation.

Set CL_BETA > 255 carefully

(esp. if cl_vlimit_en = 1).

i Exactly 255 is recommended for best performance.

23:16

CL_GAMMA (Default:0xFF)

U Maximum balancing angle to compensate back-EMF at higher velocities during

closed-loop regulation.

0x1D

15:0

DAC_ADDR_A (Default:0x0000)

U Fixed command/address, which is sent via SPI output before sending

CURRENTA_SPI values.

31:16

DAC_ADDR_B (Default: 0x0000)

U Fixed command/address, which is sent via SPI output before sending current

CURRENTB_SPI values.

0x1E 15:0

HOME_SAFETY_MARGIN (Default: 0x0000)

U HOME_REF polarity can be invalid within X_HOME ± HOME_SAFETY_MARGIN,

which is not flagged as error.

0x1F

15:0 PWM_FREQ (Default: 0x0280) (Voltage PWM is enabled)

U Number of clock cycles for one PWM period.

11:0

CHOPSYNC_DIV (Default: 0x0280) (ChopSync for TMC23x/24x is enabled)

U Chopper clock divider that defines the chopper frequency fOSC:

fOSC = fCLK/CHOPSYNC_DIV with 96 ≤ CHOPSYNC_DIV ≤ 818

Table 74: Various Configuration Registers: Closed-loop, Switches, etc.






MAIN MANUAL

Ramp Generator Registers



RW 0x20

RAMPMODE (Default:0x0)

2

Operation Mode:

1 Positioning mode: XTARGET is superior target of velocity ramp.

0 Velocitiy mode: VMAX is superior target of velocity ramp.

1:0

Motion Profile:

0 No ramp: VACTUAL follows only VMAX (rectangle velocity shape).

1

Trapezoidal ramp (incl. sixPoint ramp): Consideration of acceleration and

deceleration values for generating VACTUAL without adapting the acceleration

values.

2 S-shaped ramp: Consideration of all ramp values (incl. bow values) for

generating VACTUAL.

RW 0x21 31:0 XACTUAL (Default: 0x00000000)

S Actual internal motor position [pulses]: –231 ≤ XACTUAL ≤ 231 – 1

R 0x22 31:0

VACTUAL (Default: 0x00000000)

S Actual ramp generator velocity [pulses per second]:

1 pps ≤ |VACTUAL| ≤ CLK_FREQ · ½ pulses (fCLK = 16 MHz à 8 Mpps)

R 0x23 31:0

AACTUAL (Default: 0x00000000)

S Actual acceleration/deceleration value [pulses per sec2]:

−231 pps² ≤ AACTUAL ≤ 231 – 1 1 pps² ≤ |AACTUAL|

RW 0x24 31:0

VMAX (Default: 0x00000000)

S

Maximum ramp generator velocity in positioning mode or

Target ramp generator velocity in velocity mode and no ramp motion profile.

Value representation: 23 digits and 8 decimal places

4 mpps ≤ |VMAX [pps]| ≤ CLK_FREQ • ½ pulses

fCLK = 16 MHz à |VMAX| ≤ 8 Mpps

RW 0x25 30:0

VSTART (Default: 0x00000000)

U

Absolute start velocity in positioning mode and velocity mode

In case VSTART is used: no first bow phase B1 for S-shaped ramps

VSTART in positioning mode:

In case VACTUAL = 0 and XTARGET ≠ XACTUAL:

no acceleration phase for VACTUAL = 0 à VSTART.

VSTART in velocity mode:

In case VACTUAL = 0 and VACTUAL ≠ VMAX:

no acceleration phase for VACTUAL = 0 à VSTART.

Value representation: 23 digits and 8 decimal places.







MAIN MANUAL



RW

0x26 30:0

VSTOP (Default:0x00000000)

U

Absolute stop velocity in positioning mode and velocity mode.

In case VSTOP is used: no last bow phase B4 for S-shaped ramps.

In case VSTOP is very small and positioning mode is used, it is possible that the

ramp is finished with a constant VACTUAL = VSTOP until XTARGET is reached.

VSTOP in positioning mode:

In case VACTUAL≤VSTOP and XTARGET=XACTUAL: VACTUAL is immediately set to 0.

VSTOP in velocity mode:

In case VACTUAL ≤ VSTOP and VMAX = 0: VACTUAL is immediately set to 0.


0x27 30:0

VBREAK (Default:0x00000000)

U

Absolute break velocity in positioning mode and in velocity mode,

This only applies for trapezoidal ramp motion profiles.

In case VBREAK = 0: pure linear ramps are generated with AMAX / DMAX only.

In case |VACTUAL| < VBREAK: |AACTUAL| = ASTART or DFINAL

In case |VACTUAL| ≥ VBREAK: |AACTUAL| = AMAX or DMAX

Always set VBREAK > VSTOP! If VBREAK ≠ 0.


0x28 23:0

AMAX (Default: 0x000000)

U

S-shaped ramp motion profile: Maximum acceleration value.

Trapezoidal ramp motion profile:

Acceleration value in case |VACTUAL| ≥ VBREAK or in case VBREAK = 0.

Value representation:

Frequency mode: [pulses per sec2]

22 digits and 2 decimal places: 250 mpps2 ≤ AMAX ≤ 4 Mpps2

Direct mode: [∆v per clk cycle]

a[∆v per clk_cycle]= AMAX / 237

AMAX [pps2] = AMAX / 237 • fCLK2

Set AMAX ≤ 65536.

0x29 23:0

DMAX (Default: 0x000000)

U

S-shaped ramp motion profile: Maximum deceleration value.


Deceleration value if |VACTUAL| ≥ VBREAK or if VBREAK = 0.



22 digits and 2 decimal places: 250 mpps2 ≤ DMAX ≤ 4 Mpps2


d[∆v per clk_cycle]= DMAX / 237

DMAX [pps2] = DMAX / 237 • fCLK2

Set DMAX ≤ 65536.






MAIN MANUAL



RW

0x2A 23:0

ASTART (Default: 0x000000)

U

S-shaped ramp motion profile: start acceleration value.


Acceleration value in case |VACTUAL| < VBREAK.

Acceleration value after switching from external to internal step control.



22 digits and 2 decimal places: 250 mpps2 ≤ ASTART ≤ 4 Mpps2


a[∆v per clk_cycle]= ASTART / 237

ASTART [pps2] = ASTART / 237 • fCLK2

Set ASTART ≤ 65536.

31 Sign of AACTUAL after switching from external to internal step control.

0x2B 23:0

DFINAL (Default: 0x000000)

U

S-shaped ramp motion profile: Stop deceleration value, which is not used

during positioning mode.


Deceleration value in case |VACTUAL| < VBREAK.



22 digits and 2 decimal places: 250 mpps2 ≤ DFINAL ≤ 4 Mpps2


d[∆v per clk_cycle]= DFINAL / 237

DFINAL [pps2] = DFINAL / 237 • fCLK2

Set DFINAL ≤ 65536.

0x2C 23

DSTOP (Default: 0x000000)

U

Deceleration value for an automatic linear stop ramp to VACTUAL = 0.

DSTOP is used with activated external stop switches (STOPL or STOPR) if

soft_stop_enable is set to 1; or with activated virtual stop switches and

virt_stop_mode is set to 2.



22 digits and 2 decimal places: 250 mpps2 ≤ DSTOP ≤ 4 Mpps2


d[∆v per clk_cycle]= DSTOP / 237

DSTOP [pps2] = DSTOP / 237 • fCLK2

Set DSTOP ≤ 65536.







MAIN MANUAL



RW

0x2D 23:0

BOW1 (Default: 0x000000)

U

Bow value 1 (first bow B1 of the acceleration ramp).



24 digits and 0 decimal places: 1 pps3 ≤ BOW1 ≤ 16 Mpps3

Direct mode: [∆a per clk cycle]

bow[av per clk_cycle]= BOW1 / 253

BOW1 [pps3] = BOW1 / 253 • fCLK3

Set BOW1 ≤ 4096.

0x2E 23:0


U

Bow value 2 (second bow B2 of the acceleration ramp).







Set BOW2 ≤ 4096.

0x2F 23:0


U

Bow value 3 (first bow B3 of the deceleration ramp).







Set BOW3 ≤ 4096.

0x30 23:0

BOW 4 (Default: 0x000000)

U

Bow value 4 (second bow B4 of the deceleration ramp).







Set BOW4 ≤ 4096.

Table 75: Ramp Generator Registers






MAIN MANUAL

External Clock Frequency Register

External Clock Frequency Register


RW 0x31 24:0 CLK_FREQ (Default: 0x0F42400)

U External clock frequency value fCLK [Hz] with 4.2 MHz ≤ fCLK ≤ 30 MHz.

Table 76: External Clock Frequency Register

Target and Compare Registers

Target and Compare Registers


RW 0x32 31:0 POS_COMP (Default: 0x00000000)

S Compare position.

RW 0x33 31:0 VIRT_STOP_LEFT (Default: 0x00000000)

S Virtual left stop position.

RW 0x34 31:0 VIRT_STOP_RIGHT (Default: 0x00000000)

S Virtual right stop position.

RW 0x35 31:0 X_HOME (Default: 0x00000000)

S Actual home position.

R

0x36

31:0

X_LATCH (Default: 0x00000000) (if circular_cnt_as_xlatch = 0)

S Storage position for certain triggers.

REV_CNT (Default: 0x00000000) (if circular_cnt_as_xlatch = 1)

S Number of revolutions during circular motion.

W 30:0

X_RANGE (Default: 0x00000000)

U Limitation for X_ACTUAL during circular motion:

−X_RANGE ≤ X_ACTUAL ≤ X_RANGE − 1

RW 0x37 31:0

X_TARGET (Default: 0x00000000)

U Target motor position in positioning mode.

Set all other motion profile parameters before!

Table 77: Target and Compare Registers






MAIN MANUAL

Pipeline Registers

Shadow Register

Pipeline Register


RW

0x38 31:0 S X_PIPE0 (Default: 0x00000000): 1st pipeline register.

0x39 31:0 S X_PIPE1 (Default: 0x00000000): 2nd pipeline register.

0x3A 31:0 S X_PIPE2 (Default: 0x00000000): 3rd pipeline register.

0x3B 31:0 S X_PIPE3 (Default: 0x00000000): 4th pipeline register.

0x3C 31:0 S X_PIPE4 (Default: 0x00000000): 5th pipeline register.

0x3D 31:0 S X_PIPE5 (Default: 0x00000000): 6th pipeline register.

0x3E 31:0 S X_PIPE6 (Default: 0x00000000): 7th pipeline register.

0x3F 31:0 S X_PIPE7 (Default: 0x00000000): 8th pipeline register.


Shadow Register


RW

0x40 31:0 S SH_REG0 (Default: 0x00000000) : 1st shadow register.

0x41 31:0 U SH_REG1 (Default: 0x00000000) : 2nd shadow register.

0x42 31:0 U SH_REG2 (Default: 0x00000000) : 3rd shadow register.

0x43 31:0 U SH_REG3 (Default: 0x00000000) : 4th shadow register.




0x47 31:0 S/U SH_REG7 (Default: 0x00000000) : 8th shadow register.



0x4A 31:0 U SH_REG10 (Default: 0x00000000) : 11th shadow register.

0x4B 31:0 U SH_REG11 (Default: 0x00000000) : 12th shadow register.

0x4C 31:0 U SH_REG12 (Default: 0x00000000) : 13th shadow register.

0x4D 31:0 U SH_REG13 (Default: 0x00000000) : 14th shadow register.







MAIN MANUAL

Freeze Register

The freeze register can only be written once after an active reset and before motion starts. It is

always readable.

FREEZE Register


RW 0x4E

23:0

DFREEZE (Default: 0x000000)

U

Freeze event deceleration value.

In case NFREEZE switches to low level, this parameter is used for an

automatic linear ramp stop.

Setting DFREEZE to 0 leads to an hard stop.


Frequency mode: not available


a[∆v per clk_cycle]= DFREEZE / 237

DFREEZE [pps2] = DFREEZE / 237 • fCLK2

Set DFREEZE ≤ 65536.

31:24

IFREEZE (Default: 0x00)

U Scaling value in case NFREEZE is tied low.

In case IFREEZE=0, actual active scaling value is valid at FROZEN event.

Table 80: Freeze Register






MAIN MANUAL

Encoder Registers

Encoder Registers


RW 0x50 31:0 ENC_POS (Default: 0x00000000)

S Actual encoder position [µsteps].

R

0x51 31:0

ENC_LATCH (Default: 0x00000000)

S Latched encoder position.

W

ENC_RESET_VAL(Default: 0x00000000)

S Defined reset value for ENC_POS in case the encoder position must be cleared

to another value than 0.

R

0x52 31:0

ENC_POS_DEV (Default: 0x00000000)

S Deviation between XACTUAL and ENC_POS.

W

CL_TR_TOLERANCE (Default: 0x00000000) (Closed-loop operation)

S Tolerated absolute tolerance between XACTUAL and ENC_POS to trigger

TARGET_REACHED (incl. TARGET_REACHED_Flag and event).

W 0x53 31:0 ENC_POS_DEV_TOL (Default: 0xFFFFFFFF)

U Maximum tolerated value of ENC_POS_DEV, which is not flagged as error.

W

0x54

30:0

ENC_IN_RES (Default: 0x00000000)

U Resolution [encoder steps per revolution] of the encoder connected to the

encoder inputs.

R

ENC_CONST (Default: 0x00000000)

U Encoder constant.

i Value representation: 15 digits and 16 decimal places

W 31

manual_enc_const (Default: 0)

0 ENC_CONST will be calculated automatically.

1 Manual definition of ENC_CONST = ENC_IN_RES

W 0x55 31:0

ENC_OUT_RES (Default: 0x00000000)

U Resolution [encoder steps per revolution] of the serial encoder output

interface.







MAIN MANUAL

Encoder Registers


W

0x56

15:0 SER_CLK_IN_HIGH (Default: 0x00A0)

U High voltage level time of serial clock output [# clock cycles].

31:16 SER_CLK_IN_LOW (Default: 0x00A0)

U Low voltage level time of serial clock output [# clock cycles].

0x57

15:0

SSI_IN_CLK_DELAY (Default: 0x0000)

U

SSI encoder:

Delay time [# clock cycles] between next data transfer after a rising edge of

serial clock output.

i In case SSI_IN_CLK_DELAY = 0: SSI_IN_CLK_DELAY = SER_CLK_IN_HIGH

SPI encoder: Delay [# clock cycles] at start and end of data transfer between

serial clock output and negated chip select.

i In case SSI_IN_CLK_DELAY = 0: SSI_IN_CLK_DELAY = SER_CLK_IN_HIGH

31:16

SSI_IN_WTIME (Default: 0x0F0)

U

Delay parameter tw [# clock cycles] between two clock sequences for a multiple

data transfer (of the same data).

i SSI recommendation: tw < 19 µs.

0x58 19:0

SER_PTIME (Default: 0x00190)

U

SSI and SPI encoder: Delay time period tp [# clock cycles] between two

consecutive clock sequences for new data request.

i SSI recommendation: tp > 21 µs.

Table 81: Encoder Registers






MAIN MANUAL

PID & Closed-Loop Registers

PID and Closed-Loop Registers


RW 0x59 31:0

CL_OFFSET (Default: 0x00000000) (Closed-loop operation)

S Offset between ENC_POS and XACTUAL after closed-loop calibration. It is set

during closed-loop calibration process. It can be written manually.

W

0x5A

23:0

PID_P (Default: 0x000000) (PID regulation)

U Parameter P of PID regulator. Proportional term = PID_E · PID_P / 256

W CL_VMAX_CALC_P (Default: 0x000000) (Closed-loop operation)

U Parameter P of PI regulator controls maximum catch-up velocity limitation.

R 31:0 PID_VEL (Default: 0x00000000) (PID regulation)

S Actual PID output velocity.

W

0x5B

23:0

PID_I ( Default: 0x000000) (PID regulation)

U Parameter I of PID regulator. Integral term = PID_ISUM / 256 · PID_I / 256

W CL_VMAX_CALC_I (Default: 0x000000) (Closed-loop operation)

U Parameter I of PI regulator controls maximum catch-up velocity limitation.

R 31:0 PID_ISUM_RD ( Default: 0x00000000) (PID regulation)

S Actual PID integrator sum. Update frequency = fCLK/128

W

0x5C 23:0

PID_D (Default: 0x000000) (PID regulation)

U Parameter D of PID regulator. PID_E is sampled with fCLK / 128 / PID_D_CLKDIV.

Derivative term = (PID_ELAST – PID_EACTUAL) · PID_D

W

CL_DELTA_P (Default: 0x000000) (Closed-loop operation)

U

Gain parameter that is multiplied with the actual position difference in order to

calculate the actual commutation angle for position maintenance stiffness.

Clipped at CL_BETA. Real value =CL_DELTA_P / 216 ;Ex: 65536 à 1.0 (gain=1)


W

0x5D

14:0 PID_I_CLIP (Default: 0x0000) (PID regulation) (Closed-loop operation)

U Clipping parameter for PID_ISUM. Real value = PID_ISUM • 216 • PID_ICLIP

W 23:16 PID_D_CLKDIV (Default:0x00) (PID regulation)

U Clock divider for D part calculation.

R 31:0 PID_E (Default:0x00000000) (PID regulation)

S Actual position deviation.

W 0x5E 30:0 PID_DV_CLIP (Default:0x00000000) (PID regulation) (Closed-loop operation)

U Clipping parameter for PID_VEL.

W

0x5F

19:0 PID_TOLERANCE (Default:0x00000) (PID regulation)

U Tolerated position deviation: PID_E = 0 in case |PID_E| < PID_TOLERANCE

W 7:0

CL_TOLERANCE (Default:0x00) (Closed-loop operation)

U Tolerated position deviation:

CL_DELTA_P = 65536 (gain=1) in case |ENC_POS_DEV| < CL_TOLERANCE






MAIN MANUAL

Miscellaneous Registers

Micellaneous Registers


W

0x60 23:0

FS_VEL(Default:0x000000) (Open-loop operation)

U Minimum fullstep velocity [pps].

In case |VACTUAL| > FS_VEL fullstep operation is active, if enabled.

DC_VEL (Default:0x000000) (dcStep only)

U Minimum dcStep velocity [pps].

In case|VACTUAL| > DC_VEL dcStep is active, if enabled.

CL_VMIN_EMF (Default:0x000000) (Closed-loop operation)

U Encoder velocity at which back-EMF compensation starts.

0x61

7:0

DC_TIME (Default:0x00) (TMC26x only and dcStep only)

U Upper PWM on-time limit for commutation.

i Set slightly above effective blank time TBL of the driver.

15:8

DC_SG (Default:0x0000) (TMC26x and dcStep only)

U

Maximum PWM on-time [# clock cycles ∙ 16] for step loss detection. If a loss is

detected (step length of first regular step after blank time of the dcStep input

signal is below DC_SG), a stall event will be released.

31:16

DC_BLKTIME (Default:0x0000) (TMC26x and dcStep only)

U Blank time [# clock cycles] after fullstep release when no signal comparison

should happen.

23:0

CL_VADD_EMF (Default:0x000000) (Closed-loop operation)

U Additional velocity value to calculate the encoder velocity at which back-EMF

compensation reaches the maximum angle CL_GAMMA.

0x62

31:0 DC_LSPTM (Default:0x00FFFFFF) (dcStep only)

U dcStep low speed timer [# clock cycles]

23:0

ENC_VEL_ZERO (Default:0xFFFFFF) (dcStep is not enabled)

U Delay time [# clock cycles] after the last incremental encoder change to set

V_ENC_MEAN = 0.


Table 82: PID and Closed-Loop Registers






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Micellaneous Registers


W 0x63

7:0

ENC_VMEAN_WAIT (Default:0x00) (incremental encoders only)

U

Delay period [# clock cycles] between two consecutive actual encoder velocity

values that account for calculaton of mean encoder velocity.

Set ENC_VMEAN_WAIT > 32.

i Is set automatically to SER_PTIME for absolute SSI/SPI encoder.

7:0

SER_ENC_VARIATION (Default:0x00) (absolute encoders only)

U

Multiplier for maximum permitted serial encoder variation between consecutive

absolute encoder requests.

Maximum permitted value = ENC_VARIATION / 256 • 1/8 • ENC_IN_RES.

If ENC_VARIATION = 0: Maximum permitted value = 1/8 • ENC_IN_RES.

11:8 ENC_VMEAN_FILTER (Default:0x0)

U Filter exponent to calculate mean encoder velocity.

31:16

ENC_VMEAN_INT (Default:0x0000) (incremental encoders only)

U Encoder velocity update time [# clock cycles].

i Minimum value is set automatically to 256.

31:16

CL_CYCLE (Default:0x0000) (absolute encoders only)

U Closed-loop control cycle [# clock cycles].

i Is set automatically to fastest possible cycle for ABN encoders.

W 0x64 31:0 Reserved. Set to 0x00000000.

R

0x65 31:0 V_ENC (Default:0x00000000)

U Actual encoder velocity [pps].

0x66 31:0 V_ENC_MEAN (Default:0x00000000)

S Filtered encoder velocity [pps].

W 0x67 23:0

VSTALL_LIMIT (Default:0x00000000)

U Stop on stall velocity limit [pps]:

Only above this limit an active stall leads to a stop on stall, if enabled.

W 0x7C 31:0

CIRCULAR_DEC (Default:0x000)

U

Decimal places for circular motion if one revolution is not exactly mapped to an

even number of µSteps per revolution.

Value representation: 1 digit and 31 decimal places.

W 0x7D

15:0

ENC_COMP_XOFFSET (Default:0x0000)

U Start offset for triangular compensation in horizontal direction.

0 ≤ ENC_COMP_XOFFSET < 216

23:16

ENC_COMP_YOFFSET (Default:0x00)

S Start offset for triangular compensation in vertical direction.

−128 ≤ ENC_COMP_YOFFSET ≤ 127

31:24 ENC_COMP_AMPL (Default:0x00)

U Maximum amplitude for encoder compensation.

Table 83: Miscellaneous Registers






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Transfer Registers

Transfer Registers


W 0x68 31:0

ADDR_TO_ENC (Default:0x00000000) (SPI encoders only)

-

Address data permanently sent to get encoder angle data from the SPI encoder

slave device.

Address data sent from TMC4361 to SPI encoder for one-time data transfer.

W 0x69 31:0

DATA_TO_ENC (Default:0x00000000) (SPI encoders only)

- Configuration data sent from TMC4361 to SPI encoder for one-time data

transfer.

R 0x6A 31:0

ADDR_FROM_ENC (Default:0x00000000) (SPI encoders only)

-

Repeated request data is stored here.

Address data received from SPI encoder as response of the one-time data

transfer.

R 0x6B 31:0 DATA_FROM_ENC (Default:0x00000000) (SPI encoders only)

- Data received from SPI encoder as response of the one-time data transfer.

W 0x6C 31:0

COVER_LOW (Default:0x00000000)

-

Lower configuration bits of SPI orders that can be sent from TMC4361 to the

motor drivers via SPI output.

Automatic cover data transfer (automatic_cover = 1): Value in COVER_LOW are sent

in case |VACTUAL| crosses SPI_SWITCH_VEL downwards.

Set COVER_DATA_LENGTH ≤ 32.

In case COVER_DATA_LENGTH = 0, no TMC2130 must be selected.

W 0x6D 31:0

COVER_HIGH (Default:0x00000000)

-

Upper configuration bits of SPI orders that can be sent from TMC4361 to the

motor drivers via SPI output.

Automatic cover data transfer (automatic_cover = 1): Value in COVER_LOW are sent

if |VACTUAL| crosses SPI_SWITCH_VEL upwards.

Set COVER_DATA_LENGTH ≤ 32.

In case COVER_DATA_LENGTH = 0, no TMC2130 must be selected.

R 0x6E 31:0

COVER_DRV_LOW (Default:0x00000000)

- Lower configuration bits of SPI response received from the motor driver

connected to the SPI output.

R 0x6F 31:0

COVER_DRV_HIGH (Default:0x00000000)

- Upper configuration bits of SPI response received from the motor driver

connected to the SPI output.

Table 84: Transfer Registers






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SinLUT Registers

SinLUT Registers


W

0x70

31:0

MSLUT[0] (Default:0xAAAAB554)

0x71 MSLUT[1] (Default:0x4A9554AA)

0x72 MSLUT[2] (Default:0x24492929)


0x74 MSLUT[4] (Default:0xFBFFFFFF)

0x75 MSLUT[5] (Default:0xB5BB777D)


0x 77 MSLUT[7] (Default:0x00404222)

- Each bit defines the difference between consecutive values in the

microstep look-up table MSLUT (in combination with MSLUTSEL).

W 0x78 31:0 MSLUTSEL (Default:0xFFFF8056)

- Definition of the four segments within each quarter MSLUT wave.

R

0x79 9:0

MSCNT (Default:0x000)

U Actual µStep position of the sine value.

W MSOFFSET (Default:0x000) (TMC23x/24x only)

U Microstep offset for PWM mode.

R 0x7A

8:0 CURRENTA (Default:0x000)

S Actual current value of coilA (sine values).

24:16 CURRENTB (Default:0x000)

S Actual current value of coilB (sine90_120 values).

R 0x7B

8:0

CURRENTA_SPI (Default:0x000)

S Actual scaled current value of coilA (sine values) that are sent to the motor

driver.

24:16

CURRENTB_SPI (Default:0x000)

S Actual scaled current value of coilB (sine90_120 values) that are sent to the

motor driver.

R 0x7C 8:0 SCALE_PARAM (Default:0x000)

U Actual used scale parameter.

W 0x7E

7:0 START_SIN (Default:0x00)

U Start value for sine waveform.

31:16 START_SIN90_120 (Default:0xF7)

U Start value for cosine waveform.

31:24

DAC_OFFSET (Default:0x00)

U Offset for absolute sine and cosine values, which are forwarded via SPI output

as DAC output values.

Table 85: SinLUT Registers






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TMC Version Register

Version Register


R 0x7F 15:0 Version No (Default:0x0001)

U TMC4361 version number.

Table 86: Vision Registers






MAIN MANUAL

18. Absolute Maximum Ratings

The maximum ratings may not be exceeded under any circumstances. Operating the circuit at or near

more than one maximum rating at a time for extended periods shall be avoided by application design.

Maximum Ratings: 3.3V supply

Parameter (VCC = 3.3V nominal à TEST_MODE = 0V) Symbol Min Max Unit

Supply voltage VCC 3.0 3.6 V

Input voltage IO VIN −0.3 3.6 V

Table 87: Maximum Ratings: 3.3V supply

Maximum Ratings: 5.0V supply

Parameter (VCC = 5V nominal à TEST_MODE = 1.8V) Symbol Min Max Unit

Supply voltage VCC 4.8 5.2 V

Input voltage IO VIN −0.3 5.2 V

Table 88: Maximum Ratings: 5.0V supply

Maximum Ratings: Temperature

Parameter Symbol Min Max Unit

Temperature T −40 125 °C

Table 89: Maximum Ratings: Temperature






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19. Electrical Characteristics

DC characteristics contain the spread of values guaranteed within the specified supply voltage

range unless otherwise specified. Typical values represent the average value of all parts measured

at +25°C. Temperature variation also causes stray to some values. A device with typical values will

not leave Min/Max range within the full temperature range.

DC Characteristics

Parameter Symbol Conditions Min Typ Max Unit

Extended temperature range TCOM −40°C 125 °C

Nominal core voltage VDD 1.8 V

Nominal IO voltage VDD 3.3 / 5.0 V

Nominal input voltage VIN 0.0 3.3 / 5.0 V

Input voltage low level VINL VDD = 3.3V / 5V −0.3 0.8 / 1.2 V

Input voltage high level VINH VDD = 3.3V / 5V 2.3 / 3.5 3.6 / 5.2 V

Input with pull-down VIN = VDD 5 30 110 µA

Input with pull-up VIN = 0V −110 −30 −5 µA

Input low current VIN = 0V −10 10 µA

Input high current VIN = VDD −10 10 µA

Output voltage low level VOUTL VDD = 3.3V / 5V 0.4 V

Output voltage high level VOUTH VDD = 3.3V / 5V 2.64 / 4.0 V

Output driver strength IOUT_DRV VDD = 3.3V / 5V 4.0 mA

Table 90: DC Characteristics

Power Dissipation

Power Dissipation


Static power dissipation PDSTAT All inputs at VDD or GND

VDD = 3.3V / 5V 1.1 / 1.7 mW

Dynamic power dissipation PDDYN

All inputs at VDD or GND

fCLK variable

VDD = 3.3V / 5V

2.3 / 3.7 mW / MHz

Total power dissipation PD fCLK = 16 MHz

VDD = 3.3V / 5V 37.9 / 60.3 mW

Table 91: Power Dissipation






MAIN MANUAL

General IO Timing Parameters

General IO Timing Parameters


Operation frequency fCLK fCLK = 1 / tCLK 4.21) 16 30 MHz

Clock Period tCLK Rising edge to

rising edge 33.5 62.5 ns

Clock time low 16.5 ns

Clock time high 16.5 ns

CLK input signal rise time tRISE_IN 20 % to 80 % 20 ns

CLK input signal fall time tFALL_IN 80 % to 20 % 20 ns

Output signal rise time tRISE_OUT 20 % to 80 %

load 32 pF 3.5 ns

Output signal fall time tFALL_OUT 80 % to 20 %

load 32 pF 3.5 ns

Setup time for SPI input

signals in synchronous

design

tSU Relative to

rising clk edge 5 ns

Hold time tHD Relative to

rising clk edge 5 ns

Table 92: General IO Timing Parameters

1) The lower limit for fCLK refers to the limits of the internal unit conversion to physical units. The chip will also operate at

lower frequencies.






MAIN MANUAL

Layout Examples

Internal Cirucit Diagram for Layout Example

Figure 67: Internal Circuit Diagram for Layout Example






MAIN MANUAL

Figure 68: Components Assembly for Application with Encoder

Figure 69: Top Layer: Assembly Side

Components

Assembly for

Application with

Encoder

Top Layer:

Assembly Side






MAIN MANUAL

Figure 70: Inner Layer (GND)

Figure 71: Inner Layer (Supply VS)

Inner Layer

(GND)

Inner Layer

(Supply VS)






MAIN MANUAL

Package Dimensions

Package Dimensions

Parameter Ref Min Nom Max

Total thickness A 0.8 0.85 0.9

Stand off A1 0 0.03

5 0.05

Mold thickness A2 - 0.65 0.67

Lead frame thickness A3 0.203 REF

Lead width b 0.2 0.25 0.3

Body size X D 6 BSC

Body size Y E 6 BSC

Lead pitch e 0.5 BSC

Exposed die pad size X J 4.52 4.62 4.72

Exposed die pad size Y K 4.52 4.62 4.72

Lead length L 0.35 0.4 0.45

Package edge tolerance aaa 0.1

Mold flatness bbb 0.1

Coplanarity ccc 0.08

Lead offset ddd 0.1

Exposed pad offset eee 0.1

Table 93: Package Dimensions

Figure 72: Package Dimensional Drawings






MAIN MANUAL

Package Material Information

Please refer to the associated document “TMC43xx Package Material Information, V1.00” for

information about available package dimensions and the various tray and reel package options.

This document informs you about outside dimensions per tray and/reel and the number of ICs per

tray/reel. It also provides information about available packaging units and their weight, as well as

box dimension and weight details for outer packaging.

The document is available for download on the TMC4361 product page at www.trinamic.com.

i Should you require a custom-made component packaging solution or a different outer packaging

solution, or have questions pertaining to the component packaging choice, please contact our

customer service.

NOTE:

Our trays and reels are JEDEC-compliant.

Marking Details provided on Single Chip

The marking on each single chip shows:

❶ Trinamic emblem.

❷ Product code.

❸ Date code.

❹ Location of the copyright holder,

which is TRINAMIC in Hamburg, Germany.

❺ Lot number.

Figure 73: Marking Details on Chip1

1 The image provided is not an accurate rendition of the original product but only serves as illustration.

❹

❸

❷

❶

❺







MAIN MANUAL

APPENDICES

20. Supplemental Directives

ESD-DEVICE INSTRUCTIONS

This product is an ESD-sensitive CMOS device. It is sensitive to electrostatic

discharge.

Provide effective grounding to protect personnel and machines.

Ensure work is performed in a nonstatic environment.

Use personal ESD control footwear and ESD wrist straps, if necessary.

Failure to do so can result in defects, damages and decreased reliability.

The producer of the product TMC4361 is TRINAMIC GmbH & Co. KG in Hamburg,

Germany; hereafter referred to as TRINAMIC. TRINAMIC is the supplier; and in this

function provides the product and the production documentation to its customers.

TRINAMIC owns the content of this user manual in its entirety, including but not

limited to pictures, logos, trademarks, and resources.

© Copyright 2015 TRINAMIC®. All rights reserved. Electronically published by

TRINAMIC®, Germany. All trademarks used are property of their respective owners.

Redistributions of source or derived format (for example, Portable Document

Format or Hypertext Markup Language) must retain the above copyright notice, and

the complete Datasheet User Manual documentation of this product including

associated Application Notes; and a reference to other available product-related

documentation.

Trademark designations and symbols used in this documentation indicate that a

product or feature is owned and registered as trademark and,'or patent either by

TRINAMIC or by ather manufacturers, whose products are used or referred to in

combination With TRINAMlC's products and TRINAMlC's product documentation.

This documentation is a noncommercial publication that seeks to provide concise

scientific and technical user information to the target user. Thus, we only enter

trademark designations and symbols in the Short Spec of the documentation that

introduces the product at a quick glance. We also enter the trademark designation

symbol when the product or feature name occurs for the first time in the document.

All trademarks used are property of their respective owners.

The documentation provided here, is for programmers and engineers only, who are

equipped with the necessary skills and have been trained to work with this type of

product.

The Target User knows how to responsibly make use of this product without causing

harm to himself or others, and without causing damage to systems or devices, in

which the user incorporates the product.


Producer

Information

Copyright

Trademark

Designations

and Symbols

Target User






MAIN MANUAL

TRINAMIC Motion Control GmbH & Co. KG does not authorize or warrant any of its

products for use in life support systems, without the specific written consent of

TRINAMIC Motion Control GmbH & Co. KG.

Life support systems are equipment intended to support or sustain life, and whose

failure to perform, when properly used in accordance with instructions provided,

can be reasonably expected to result in personal injury or death.

Information given in this document is believed to be accurate and reliable. However,

no responsibility is assumed for the consequences of its use nor for any

infringement of patents or other rights of third parties which may result from its use.

Specifications are subject to change without notice.

The data specified in this user manual is intended solely for the purpose of product

description. No representations or warranties, either express or implied, of

merchantability, fitness for a particular purpose or of any other nature are made

hereunder with respect to information/specification or the products to which

information refers and no guarantee with respect to compliance to the intended use

is given.

In particular, this also applies to the stated possible applications or areas of

applications of the product. TRINAMIC products are not designed for and must not

be used in connection with any applications where the failure of such products

would reasonably be expected to result in significant personal injury or death

(Safety-Critical Applications) without TRINAMIC’s specific written consent.

TRINAMIC products are not designed nor intended for use in military or aerospace

applications or environments or in automotive applications unless specifically

designated for such use by TRINAMIC. TRINAMIC conveys no patent, copyright, mask

work right or other trade mark right to this product. TRINAMIC assumes no liability

for any patent and/or other trade mark rights of a third party resulting from

processing or handling of the product and/or any other use of the product.

This document Datasheet User Manual contains the User Information for the Target

User.

The Short Spec forms the preface of the document and is aimed at providing a

general product overview. The Main Manual contains detailed product information

pertaining to functions, and configuration settings. It contains all other pages of this

document.

This product documentation is related and/or associated with additional tool kits,

firmware and other items, as provided on the product page at: www.trinamic.com .

Disclaimer: Life

Support Systems

Disclaimer:

Intended Use

Product

Documentation

Details

Collateral

Documents &

Tools







MAIN MANUAL

21. Tables Index

Table 1: TMC4361 Order Codes ................................................................................................................................ 2 Table 2: Pin Names and Descriptions ..................................................................................................................... 12 Table 3: SPI Input Control Interface Pins ............................................................................................................... 16 Table 4: Read and Write Access Examples ............................................................................................................. 17 Table 5: SPI Interface Timing ................................................................................................................................... 19 Table 6: Input Filtering Groups (Assigned Pins) .................................................................................................... 20 Table 7: Input Filtering (Assigned Register) ........................................................................................................... 20 Table 8: Sample Rate Configuration ....................................................................................................................... 21 Table 9: Configuration of Digital Filter Length ....................................................................................................... 21 Table 10: Pins Names: Status Events ...................................................................................................................... 24 Table 11:Register Names: Status Flags and Events .............................................................................................. 24 Table 12: Pin Names: Ramp Generator .................................................................................................................. 28 Table 13: Register Names: Ramp Generator ......................................................................................................... 28 Table 14: Overview of General and Basic Ramp Configuration Options ........................................................... 31 Table 15: Description of TMC4361 Motion Profiles .............................................................................................. 33 Table 16: Trapezoidal Ramps: AACTUAL Assignments during Motion ............................................................... 36 Table 17: Parameter Assignments for S-shaped Ramps ...................................................................................... 39 Table 18: Minimum and Maximum Values if Real World Units are selected .................................................... 48 Table 19: Minimum and Maximum Values for Steep Slopes for fCLK =16MHz .................................................. 48 Table 20: Pins used for External Step Control ....................................................................................................... 49 Table 21: Registers used for External Step Control .............................................................................................. 49 Table 22: Pins used for Reference Switches .......................................................................................................... 53 Table 23: Dedicated Registers for Reference Switches ........................................................................................ 53 Table 24: Reference Configuration and Corresponding Transition of particular Reference Switch .............. 55 Table 25: Overview of different home_event Settings ......................................................................................... 59 Table 26: Comparison Selection Grid to generate POS_COMP_REACHED_Flag ............................................... 63 Table 27: Circular motion (X_RANGE = 300) ........................................................................................................... 67 Table 28: Dedicated Ramp Timing Pins .................................................................................................................. 68 Table 29: Dedicated Ramp Timing Registers ......................................................................................................... 68 Table 30: Start Trigger Configuration ..................................................................................................................... 69 Table 31: Start Enable Switch Configuration ......................................................................................................... 69 Table 32: Parameter Settings Timing Example 1 .................................................................................................. 71 Table 33: Parameter Settings Timing Example 2 .................................................................................................. 72 Table 34: Parameter Settings Timing Example 3 .................................................................................................. 73 Table 35: Pipeline Activation Options ..................................................................................................................... 82 Table 36: Pipeline Mapping for different Pipeline Configurations ..................................................................... 83 Table 37: Pin Names for SPI Motor Drive ............................................................................................................... 88 Table 38: Dedicated SPI Output Registers ............................................................................................................. 89 Table 39: Wave Inclination Characteristics of Internal MSLUT ............................................................................ 92 Table 40: Overview of the Microstep Behavior Example ..................................................................................... 96 Table 41: SPI Output Communication Pins ............................................................................................................ 97 Table 42: TMC Stepper Motor Driver Options ..................................................................................................... 102 Table 43: Mapping of TMC23x/24x Status Flags ................................................................................................. 106 Table 44: Mapping of TMC26x Status Flags ......................................................................................................... 112 Table 45: Mapping of TMC2130 Status Flags ....................................................................................................... 115 Table 46: Non-TMC Data Transfer Options .......................................................................................................... 116 Table 47: Available SPI-DAC Options .................................................................................................................... 119 Table 48: Pin Description: NFREEZE ...................................................................................................................... 128 Table 49: Pin Descriptions DFREEZE and IFREEZE ............................................................................................... 128 Table 50: Dedicated PWM Output Pins ................................................................................................................ 130






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Table 51: Dedicated PWM Output Registers ........................................................................................................ 130 Table 52: Dedicated dcStep Pins ........................................................................................................................... 135 Table 53: Dedicated dcStep Registers .................................................................................................................. 135 Table 54: Dedicated Decoder Unit Pins .................................................................................................................... 141 Table 55: Dedicated Decoder Unit Registers ............................................................................................................ 141 Table 56: Pin Assignment based on selected Encoder Setup............................................................................ 143 Table 57: Index Channel Sensitivity ...................................................................................................................... 146 Table 58: Supported SPI Encoder Data Transfer Modes .................................................................................... 157 Table 59: Dedicated Closed-Loop and PID Registers ............................................................................................... 159 Table 60: General Configuration 0x00 .................................................................................................................. 172 Table 61: Reference Switch Configuration 0x01 ................................................................................................. 175 Table 62: Start Switch Configuration START_CONF 0x02 ................................................................................... 177 Table 63: Input Filter Configuration Register INPUT_FILT_CONF 0x03 ............................................................ 178 Table 64: SPI Output Configuration Register SPI_OUT_CONF 0x04 .................................................................. 181 Table 65: Current Scale Configuration (0x05) ...................................................................................................... 182 Table 66: Current Scale Values (0x06) .................................................................................................................. 183 Table 67: Encoder Signal Configuration ENC_IN_CONF (0x07) .......................................................................... 187 Table 68: Serial Encoder Data Input Configuration ENC_IN_DATA (0x08) ....................................................... 187 Table 69: Serial Encoder Data Output Configuration ENC_OUT_DATA (0x09) ................................................ 188 Table 70: Motor Driver Settings (0x0A) ................................................................................................................. 189 Table 71: Event Selection Regsiters 0x0B…0x0D ................................................................................................. 190 Table 72: Status Event Register EVENTS (0x0E) ................................................................................................... 191 Table 73: Status Flag Register STATUS (0x0F) ...................................................................................................... 192 Table 74: Various Configuration Registers: Closed-loop, Switches, etc. .......................................................... 194 Table 75: Ramp Generator Registers .................................................................................................................... 198 Table 76: External Clock Frequency Register ....................................................................................................... 199 Table 77: Target and Compare Registers ............................................................................................................. 199 Table 78: External Clock Frequency Register ....................................................................................................... 200 Table 79: External Clock Frequency Register ....................................................................................................... 200 Table 80: Freeze Register ....................................................................................................................................... 201 Table 81: Encoder Registers ................................................................................................................................... 203 Table 82: PID and Closed-Loop Registers ............................................................................................................ 205 Table 83: Miscellaneous Registers ........................................................................................................................ 206 Table 84: Transfer Registers .................................................................................................................................. 207 Table 85: SinLUT Registers ..................................................................................................................................... 208 Table 86: Vision Registers ....................................................................................................................................... 209 Table 87: Maximum Ratings: 3.3V supply ............................................................................................................ 210 Table 88: Maximum Ratings: 5.0V supply ............................................................................................................ 210 Table 89: Maximum Ratings: Temperature ......................................................................................................... 210 Table 90: DC Characteristics .................................................................................................................................. 211 Table 91: Power Dissipation .................................................................................................................................. 211 Table 92: General IO Timing Parameters ............................................................................................................. 212 Table 93: Package Dimensions .............................................................................................................................. 216 Table 94: Document Revision History .................................................................................................................. 224






MAIN MANUAL

22. Figures Index

Figure 1: Sample Image TMC4361 Closed-Loop Drive ......................................................................................... 1 Figure 2: Block Diagram ............................................................................................................................................. 1 Figure 3: S-shaped Velocity Profile ............................................................................................................................ 2 Figure 4: Hardware Set-up for Closed-loop Operation with TMC262 .................................................................. 2 Figure 5: Hardware Set-up for Open-loop Operation with TMC2130 .................................................................. 2 Figure 6: Package Outline: Pin Assignments Top View ......................................................................................... 10 Figure 7: System Overview ....................................................................................................................................... 13 Figure 8: TMC4361 Connection: VCC=3.3V ............................................................................................................. 14 Figure 9: TMC4361 with TMC26x Stepper Driver in SPI Mode or S/D Mode ..................................................... 14 Figure 10: TMC4361 with TMC248 Stepper Driver in SPI Mode .......................................................................... 15 Figure 11: TMC4361 with TMC2130 Stepper Driver in SPI Mode or S/D Mode ................................................. 15 Figure 12: TMC4361 SPI Datagram Structure ........................................................................................................ 16 Figure 13: Difference between Read and Write Access ....................................................................................... 17 Figure 14: SPI Timing Datagram .............................................................................................................................. 18 Figure 15: Reference Input Pins: SR_REF = 1, FILT_L_REF = 1 ............................................................................... 22 Figure 16: START Input Pin: SR_S = 2, FILT_L_S = 0 ................................................................................................ 22 Figure 17: Encoder Interface Input Pins: SR_ENC_IN = 0, FILT_L_ENC_IN = 7 .................................................... 22 Figure 18: Step/Dir Input Filter Parameter ............................................................................................................ 23 Figure 19: No Ramp Motion Profile ........................................................................................................................ 34 Figure 20: Trapezoidal Ramp without Break Point ............................................................................................... 35 Figure 21: Trapezoidal Ramp with Break Point ..................................................................................................... 35 Figure 22: S-shaped Ramp without initial and final Acceleration/Deceleration Values ................................... 37 Figure 23: S-shaped Ramp with initial and final Acceleration/Deceleration Values ......................................... 38 Figure 24: Trapezoidal Ramp with initial Velocity ................................................................................................. 40 Figure 25: S-shaped Ramp with initial Start Velocity ............................................................................................ 41 Figure 26: S-shaped Ramp with Stop Velocity ....................................................................................................... 43 Figure 27: S-shaped Ramp with Start and Stop Velocity ...................................................................................... 44 Figure 28: S-shaped Ramps with combined VSTART and ASTART Parameters ................................................ 45 Figure 29: sixPoint Ramp: Trapezoidal Ramp with Start and Stop Velocity ...................................................... 46 Figure 30: HOME_REF Monitoring and HOME_ERROR_FLAG .............................................................................. 60 Figure 31: Ramp Timing Example 1 ........................................................................................................................ 71 Figure 32: Ramp Timing Example 2 ........................................................................................................................ 72 Figure 33: Ramp Timing Example 3 ........................................................................................................................ 73 Figure 34: Single-level Shadow Register Option to replace complete Ramp Motion Profile. ......................... 75 Figure 35: Double-stage Shadow Register Option 1, suitable for S-shaped Ramps. ...................................... 76 Figure 36: Double-stage Shadow Register Option 2, suitable for Trapezoidal Ramps. ................................... 77 Figure 37: Double-Stage Shadow Register Option 3, suitable for Trapezoidal Ramps .................................... 78 Figure 38: SHADOW_MISS_CNT Parameter for several internal Start Signals .................................................. 79 Figure 39: Target Pipeline with Configuration Options ........................................................................................ 81 Figure 40: Pipeline Example A ................................................................................................................................. 84 Figure 41: Pipeline Example B ................................................................................................................................. 84 Figure 42: Pipeline Example C ................................................................................................................................. 85 Figure 43: Pipeline Example D ................................................................................................................................. 85 Figure 44: Pipeline Example E .................................................................................................................................. 85 Figure 45: Pipeline Example F .................................................................................................................................. 85 Figure 46: Pipeline Example G ................................................................................................................................. 86 Figure 47: Pipeline Example H ................................................................................................................................. 86 Figure 48: LUT Programming Example ................................................................................................................... 90 Figure 49: MSLUT Curve with all possible Base Wave Inclinations (highest Inclination first) ......................... 95 Figure 50: SPI Output Datagram Timing ................................................................................................................ 98






MAIN MANUAL

Figure 51: Cover Data Register Composition (CDL – COVER_DATA_LENGTH) ................................................. 100 Figure 52: Scaling Example 1 ................................................................................................................................. 126 Figure 53: Scaling Example 2 ................................................................................................................................. 127 Figure 54: Calculation of PWM Duty Cycles (PWM_AMPL) ................................................................................. 132 Figure 55: TMC4361 connected with TMC23x/24x operating in SPI Mode or PWM Mode ........................... 133 Figure 56: dcStep extended Application Operation Area .................................................................................. 136 Figure 57: Velocity Profile with Impact through Overload Situation ................................................................ 138 Figure 58: Triangular Function that compensates Encoder Misalignments .................................................... 144 Figure 59: Outline of ABN signals of an incremental Encoder ................................................................................ 146 Figure 60:Serial Data Output: Four Examples ..................................................................................................... 153 Figure 61: SSI: SSI_IN_CLK_DELAY=0 ..................................................................................................................... 154 Figure 62: SSI: SSI_IN_CLK_DELAY>SER_CLK_IN_HIGH ........................................................................................ 154 Figure 63: Calculation of the Output Angle with appropriate CL_DELTA_P ..................................................... 163 Figure 64: Closed-Loop Current Scaling ............................................................................................................... 166 Figure 65: Closed-Loop Current Scaling Timing Behavior ................................................................................. 167 Figure 66: Calculation of the actual Load Angle GAMMA .................................................................................. 168 Figure 67: Internal Circuit Diagram for Layout Example .................................................................................... 213 Figure 68: Components Assembly for Application with Encoder ..................................................................... 214 Figure 69: Top Layer: Assembly Side .................................................................................................................... 214 Figure 70: Inner Layer (GND) ................................................................................................................................. 215 Figure 71: Inner Layer (Supply VS) ........................................................................................................................ 215 Figure 72: Package Dimensional Drawings .......................................................................................................... 216 Figure 73: Marking Details on Chip1 ..................................................................................................................... 217






MAIN MANUAL

23. Revision History

Document Revision History

Version Date Author Description

1.00 2014-APR-11 HS, SD First complete version.

1.01 2014-APR-28 SD Cross reference in chapter 9.3 corrected.

Internal ramp generator units corrected.

2.00 2014-MAY-19 SD Design changes.

Change of connection scheme.

2.01 2014-MAY-23 SD Clock frequency range updated.

2.02 2014-DEC-11 JP Changed package suffice. Addition of “LA”

2.03 2015-MAR-02 JP Updated temperature ratings.

3.00 2016-MAR-21 HS, SV New document layout. Reordering of chapters.

Better Navigation.

3.10 2016-JUL-04 HS, SV New Layout, ANSI-compliant safety notices,

new release variant.

Table 94: Document Revision History


Motion Controller for Stepper Motors TMC4361 …...Motion Controller for Stepper Motors Integrated...

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